Aspects of the subject disclosure may include, for example, a LIDAR measurement system that includes a transmitter module (108), a transmitter lens system (110), a receiver module (138), and a receiver lens system (130). The transmitter module and receiver module are positioned within a housing, and the transmitter lens system and receiver lens system protrude through a bezel outside the housing. Other embodiments are disclosed.
Aspects of the subject disclosure may include, for example, a LIDAR measurement system that includes a transmitter module, a transmitter lens system, a receiver module, and a receiver lens system. The transmitter module and receiver module are positioned within a housing, and the transmitter lens system and receiver lens system protrude through a bezel outside the housing. Other embodiments are disclosed.
Aspects of the subject disclosure may include, for example, temperature compensation for angle estimation in micro-electromechanical systems (MEMS) devices. A plurality of piezoelectric strain sensors are arranged in a Wheatstone bridge that produces a voltage that varies with torsional movement of the MEMS device. Temperature dependent coefficients that represent temperature dependency of substrate materials and temperature dependency of the voltage produced by the Wheatstone bridge in response to the torsional movement. The temperature dependent coefficients are used to scale the voltage produced by the Wheatstone bridge to provide temperature compensated angle estimation. Other embodiments are disclosed.
G01D 5/16 - Mechanical means for transferring the output of a sensing memberMeans for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for convertingTransducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying resistance
G01K 7/02 - Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat using thermoelectric elements, e.g. thermocouples
G01L 1/16 - Measuring force or stress, in general using properties of piezoelectric devices
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
4.
DETECTION OF AN OBSCURANT ON AN ENVIRONMENT SURFACE BY A LIDAR SYSTEM
In various embodiments, a system for detecting an obscurant on an environment surface includes a light source; a scanner; a receiver that detects scattered reflection returns, some of which may be below a detection threshold; and a processor. The processor determines whether the portion below the threshold corresponds to an obscurant on an environment surface, including by: receiving a new point cloud including a group of points corresponding to the environment surface, clustering at least a portion of the group of points to form a projected shape, and clustering into a candidate cluster at least a portion of the portion below the threshold that belong to projected locations within the shape. The obscurant candidate cluster is compared with a previously determined cluster to determine whether a detected change conforms to a detected physical movement of the system. If so, the obscurant candidate cluster is an obscurant on the environment surface.
Aspects of the subject disclosure may include, for example, a light detection and ranging system that includes a laser light source, scanning mirrors, light-sensitive devices, and time-of-flight measurement circuits. The angular velocity of the scanning mirrors is adjusted in a region of interest to modify resolution. A scanning mirror on a fast scan axis slows down entering the region and speeds up exiting, while a scanning mirror on a slow scan axis does the opposite. The system may also increase a laser pulse repetition rate in the region of interest for enhanced data acquisition. Other embodiments are disclosed.
In various embodiments, a process for classifying absorbing targets by a lidar system includes emitting output beams comprising pulses of light for a region in a field of regard, and detecting received pulses of light associated with at least a portion of the emitted pulses of light for the region. The process includes determining a metric associated with the detected received pulses of light, providing at least a portion of the metric to a trained machine learning model to determine a machine learning output, and classifying a light absorbing blockage associated with the region based on the machine learning output.
In various embodiments, a process includes emitting an output beam through a window, scanning the beam across a field of regard, and detecting pulses of light corresponding to scattered reflection returns of a first part of the emitted pulses. Scattered reflection returns of a second part of the emitted pulses are below a detection threshold. The process includes determining whether at least a portion of the second part of the emitted pulses of light corresponds to a blockage on the window including by clustering projected locations on the window for the second part of the emitted pulses of light, determining an edge of a shape encompassing the cluster(s), and analyzing signal properties of the received pulse(s) of light corresponding to one or more of the first part of the emitted pulses of light that are associated with projected locations within a threshold distance from the edge of the shape.
G06F 18/2415 - Classification techniques relating to the classification model, e.g. parametric or non-parametric approaches based on parametric or probabilistic models, e.g. based on likelihood ratio or false acceptance rate versus a false rejection rate
The embodiments described herein provide systems and methods that can facilitate improved velocity estimation in light detection and ranging (LiDAR) systems and other scanning laser devices. Specifically, the systems and methods utilize laser light pulses to determine estimates of velocity for multiple measurement points in a scanned region. For example, a scanning laser device can be adapted to scan measurement points during temporally adjacent measurement sweeps and generate distance measurements based on the scans made during those sweeps. The scanning laser device is further adapted to interpolate distance measurements to determine distance estimates for measurement points not directly scanned during at least one of the sweeps, and to compare the generated distance estimates to distance measurements taken in the other sweep to determine radial velocity estimates for corresponding measurement points based on the comparison.
The embodiments described herein provide systems and methods that can facilitate improved velocity estimation in light detection and ranging (LiDAR) systems and other scanning laser devices. Specifically, the systems and methods utilize laser light pulses to determine estimates of velocity for multiple measurement points in a scanned region. For example, a scanning laser device can be adapted to scan measurement points during temporally adjacent measurement subframes and generate distance measurements based on the scans made during those subframes. The scanning laser device is further adapted to interpolate distance measurements to determine distance estimates for measurement points not directly scanned during at least one of the subframes, and to compare the generated distance estimates to distance measurements taken in the other subframe to determine radial velocity estimates for corresponding measurement points based on the comparison.
A point cloud generated at least in part using a lidar sensor is received. A geometric mesh based on the point cloud is determined. A seed geometric face formed in the geometric mesh is selected based on one or more seed selection criteria. Starting from the seed geometric face, neighboring geometric faces of the geometric mesh that meet one or more relative neighbor selection criteria are iteratively selected into a region group, and an operable region indicated by the region group is detected.
A direction of motion associated with a lidar device is detected to fall within a threshold. In response to the detection that the direction of the motion is within the threshold, a directional vector associated with an orientation of the lidar device is determined. Based on a difference between the direction of the motion and the directional vector, one or more correction values for the lidar device is determined.
A system comprises a light source, a radar transmitter, a light receiver, a radar receiver, and a processor. The light source is configured to emit a light pulse. The radar transmitter is configured to transmit a radar signal, wherein an emission direction of the light pulse of the light source and a transmission direction of the radar signal of the radar transmitter are at least in part synchronized. The light receiver is configured to detect a reflected light pulse, the radar receiver is configured to detect a reflected radar signal, and the processor is configured to determine a dimensional representation of an environment based at least in part on the detected reflected light pulse and the detected reflected radar signal.
In the present application, a lidar system is disclosed. The system comprises a light source configured to emit an output beam comprising a plurality of light pulses through a window. The system comprises a receiver configured to detect a reference signal, the reference signal corresponding to one of the plurality of light pulses reflected from the window. The receiver is configured to detect a received signal, the received signal comprising a signal portion corresponding to one of the plurality of light pulses scattered by a target located at a distance. The system comprises a processor configured to determine the distance to the target using the received signal, including by being configured to subtract the reference signal from the received signal.
A system comprises a light source, a scanner, an optical limiter, and a receiver sensor. The light source is configured to emit an output beam comprising pulses of light. The scanner is configured to scan the output beam across a field of regard of the system. The optical limiter is configured to non-linearly affect a received light based on an intensity of the received light. The receiver sensor is configured to detect at least a portion of the received light exiting the optical limiter, the detected light comprising at least a portion of one of the emitted pulses of light scattered by an object located a distance from the system.
The embodiments described herein include strain sensors with piezoresistive elements that are formed proximate opposite surfaces of the substrate. Specifically, the strain sensors include piezoresistive elements in a Wheatstone bridge where two piezoresistive elements are disposed proximate one surface, while the other two piezoresistive elements are disposed proximate the opposite surface. This can provide increased sensitivity to certain types of motion (e.g., torsional motion) and/or reduced sensitivity to other types of motion (e.g., lateral motions).
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01L 1/18 - Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
17.
STRAIN SENSORS FOR MICROELECTROMECHANICAL SYSTEM (MEMS) DEVICES
The embodiments described herein include strain sensors (108) with piezoresistive elements that are formed proximate opposite surfaces of the substrate (110). Specifically, the strain sensors include piezoresistive elements in a Wheatstone bridge where two piezoresistive elements are disposed proximate one surface, while the other two piezoresistive elements are disposed proximate the opposite surface. This can provide increased sensitivity to certain types of motion (e.g., torsional motion) and/or reduced sensitivity to other types of motion (e.g., lateral motions).
G01L 1/18 - Measuring force or stress, in general using properties of piezo-resistive materials, i.e. materials of which the ohmic resistance varies according to changes in magnitude or direction of force applied to the material
G01L 1/22 - Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluidsMeasuring force or stress, in general by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
A system comprises a seed laser diode, a semiconductor optical amplifier, and a driver. The seed laser diode is configured to produce a seed optical signal. The semiconductor optical amplifier is configured to, based on an injected amplifier current pulse, amplify the seed optical signal to produce an emitted optical signal. The driver is configured to provide to the seed laser diode or the semiconductor optical amplifier, a profiled compensation current associated with the injected amplifier current pulse to at least in part control a frequency chirp of the emitted optical signal.
H01S 5/062 - Arrangements for controlling the laser output parameters, e.g. by operating on the active medium by varying the potential of the electrodes
H01S 5/50 - Amplifier structures not provided for in groups
In one embodiment, a sensor includes a window, a light source that can emit an optical signal toward the window, a receiver to detect an optical signal reflected off a target and received through the window, and a controller to determine a characteristic of the target. The emitted optical signal is capable of being used to reduce an obscurant on the window by absorption, as well as to scatter off of targets located in the environment of the sensor to obtain information about that environment.
A scanner is configured to scan the emitted light through a window. A first detector is positioned to receive at least a portion of the emitted light scattered by a downrange target. A second detector is positioned to receive at least a portion of the emitted light scattered by a window obscurant. A third detector is positioned to receive at least a portion of the emitted light scattered by a close obscurant located within a distance range that is between a minimum detection distance associated with the first detector and a maximum detection distance associated with the second detector. A processor is configured to determine whether an obscurant located closer to the window than the minimum detection distance associated with the first detector is detected based on one or more signal properties of the second detector and one or more signal properties of the third detector.
A lidar system is disclosed. The system comprises a light source configured to emit light pulses. The system comprises a scanner configured to scan the emitted light pulses across an internal reference target internal to the system. The system comprises a detector configured to detect light that is at least a portion of light scattered by the internal reference target from at least a portion of the emitted light pulses. The system comprises a processor configured to selectively gather detected optical property values of the detected light corresponding to a selective portion of the emitted light pulses scanned across the internal reference target and use the selectively gathered detected optical property values to determine one or more calibration values.
A system comprises a light source, a receiver, and a processor. The light source is configured to generate an emitted pulse of light. The receiver is configured to detect at least a portion of the emitted pulse of light scattered by an external target and provide a plurality of different measurement signals for the detected emitted pulse of light. The processor is configured to analyze the plurality of different measurement signals to identify the plurality of different measurement signals as corresponding to the same external target and combine the identified plurality of different measurement signals to determine a measurement for the external target.
A lidar system includes one or more light sources configured to generate a first beam of light and a second beam of light, a scanner configured to scan the first and second beams of light across a field of regard of the lidar system, and a receiver configured to detect the first beam of light and the second beam of light scattered by one or more remote targets. The scanner includes a rotatable polygon mirror that includes multiple reflective surfaces angularly offset from one another along a periphery of the polygon mirror, the reflective surfaces configured to reflect the first and second beams of light to produce a series of scan lines as the polygon mirror rotates. The scanner also includes a pivotable scan mirror configured to (i) reflect the first and second beams of light and (ii) pivot to distribute the scan lines across the field of regard.
G02B 7/182 - Mountings, adjusting means, or light-tight connections, for optical elements for prismsMountings, adjusting means, or light-tight connections, for optical elements for mirrors for mirrors
H01L 25/16 - Assemblies consisting of a plurality of individual semiconductor or other solid-state devices the devices being of types provided for in two or more different subclasses of , , , , or , e.g. forming hybrid circuits
An active metasurface that provides low-loss and high-bandwidth modulation control of light includes a number of cells arranged on a substrate. A controller dynamically alters a voltage differential supplied to the electrodes of each of the cells is adapted to alter refractive index of each of the high-index dielectric blocks in order to controllably steer light exiting the cell.
G02B 6/122 - Basic optical elements, e.g. light-guiding paths
G02B 27/00 - Optical systems or apparatus not provided for by any of the groups ,
G02F 1/29 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulatingNon-linear optics for the control of the position or the direction of light beams, i.e. deflection
G02F 1/313 - Digital deflection devices in an optical waveguide structure
Observed environment lidar sensor data including a plurality of spatial points is received for a mobile entity. The observed environment lidar sensor data is transformed into one or more alternative observed environment candidates. A corresponding observed environment reduced representation is calculated for the observed environment lidar sensor data and each of the one or more alternative observed environment candidates. The observed environment reduced representations is correlated with reference reduced representations for different geographical locations to determine correlation results. Based on the correlation results, a current location of the mobile entity is identified.
In various embodiments, a lidar system includes a light source configured to emit an output beam comprising pulses of light, and a scanner configured to scan the output beam across a field of regard of the lidar system, wherein the scanner includes a component shaped to optimize at least one of: a noise or a vibration of the scanner. The lidar system includes a receiver configured to detect a received pulse of light, the received pulse of light comprising a portion of one of the emitted pulses of light scattered by a target located a distance from the lidar system.
A system includes one or more processors configured to receive data point information captured using a lidar device, project the data point information onto a horizontal plane perspective, filter the projected data point information, determine a ground plane among one or more planes identified using the filtered projected data point information, and provide a parameter associated with the determined ground plane for configuring the lidar device. The system also includes a memory coupled with at least a portion of the one or more processors.
The disclosure herein describes reduction of undesired signals within reflected signals of a light detection and ranging (LiDAR) system. For example, a current injection circuit can inject an interference reduction current into an optical detector. Further, for example, an adjustable detection threshold may be adjusted during an undesired signal time period. Still further, for example, a switch can be used to disconnect various detection circuitry to avoid or mask undesired signals.
A LIDAR system includes a light source configured to generate light pulses, a mechanical scanner, a detector including an array of discrete detector channels configured to convert light input into electrical signals, a lens that focuses both light pulses generated at the light source onto the mechanical scanner and returning light reflected from the mechanical scanner for reception in sequence by the detector channels, a first analog to digital converter (ADC) connected to each of the detector channels in the array and configured to convert the electrical signals from the detector channels into digital data signals, and a signal processor coupled to the ADC to receive the digital data signals therefrom and configured to generate images of targets in a field of view of the LiDAR system from the digital data signals.
A LiDAR system includes a light source to generate light pulses, a lens, a rotating scanning mirror, and a photonic integrated circuit (PIC) chip mechanically registered with the lens. The PIC chip includes a transmission waveguide, a receiver waveguide, and first and second free space couplers lithographically fabricated thereon. A detector is further fabricated on the PIC chip. The transmission waveguide is optically coupled to the light source. The first free space coupler is optically coupled to the transmission waveguide. A second free space coupler is lithographically aligned with the first free space coupler and optically coupled to the receiver waveguide. The detector is optically coupled to a second end of the receiver waveguide. The lens focuses light pulses output from the first free space coupler onto the scanning mirror and returning light reflected from the scanning mirror onto the second free space coupler.
A system includes a light emitter configured to emit light pulses. The system includes a controller configured to control positions of the emitted light pulses based on a selected reference profile. The controller includes an iterative learning controller configured to provide an error correction signal based on one or more iterative learning functions that correspond to the selected reference profile. The system includes a detector configured to provide one or more detection signals in response to a detection of a return pulse corresponding to at least one of the emitted light pulses.
Implementations described and claimed herein include a device with a rotating polygon scanner configured to deflect light reflected from one or more distant objects towards a lens configured to focus the reflected light, and a detector chip including a plurality of detector channels, each detector channel including a photodiode configured to receive the focused light from the lens and a local oscillator, wherein the local oscillator on each of the plurality of detector channel has a power level that is different than power level of the local oscillator of the other of the plurality of detector channels.
In one embodiment, a lidar system includes a light source configured to emit local-oscillator (LO) light and pulses of light, the emitted pulses of light including a first emitted pulse of light, where an optical frequency of the first emitted pulse of light is offset from an optical frequency of the LO light by a first frequency offset. The lidar system further includes a receiver configured to detect the LO light and a first received pulse of light, the first received pulse of light including light from the first emitted pulse of light scattered by a target located a distance from the lidar system. The receiver includes a detector, where: the LO light and the first received pulse of light are coherently mixed together at the detector, and the detector is configured to produce a photocurrent signal corresponding to the coherent mixing.
A system and method are described for assessing accuracy of a virtual horizon generated by a vehicle-based lidar system as the vehicle traverses a route of travel. Travel route topology data is obtained by a vehicle vehicle-mounted global positioning system-assisted inertial measurement unit (GPS/IMU) data. A reference virtual horizon at points along the route of travel is obtained from the GPS/IMU data and is compared with the virtual horizon generated by the lidar system for the same points to assess the accuracy of the virtual horizon generated by the lidar system.
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices. Specifically, the systems and methods emit first emission control pulse sets that are used to detect when objects (e.g., persons) are within a relatively close first safety range. Then second emission control pulses to detect when objects are within a second safety range. Then, higher energy long-range pulse sets are conditionally emitted only when objects were not detected within the first and second safety ranges with the first and second emission control pulse sets. The use of first and second emission control pulse sets can provide for improved reliability of nearby object detections, while still meeting the energy limits needed for eye safety.
Implementations described and claimed herein include a LiDAR system with a semiconductor optical amplifier (SOA) configured to receive a light signal from a master-oscillator laser source, the semiconductor optical source including an optical splitter configured to split the light signal into two or more split light signals and two or more respective semiconductor optical amplifiers (SOAs), each SOA configured to receive one of the split light signals and amplify the split light signal.
A system includes a laser diode configured to produce seed light, a capacitor configured to charge from a voltage source, a transistor configured to control current flowing through a semiconductor optical amplifier via a controlled discharge of the capacitor, the semiconductor optical amplifier configured to amplify at least a temporal portion of the seed light in response to the current flowing through the semiconductor optical amplifier to emit an output pulse of light, and a receiver configured to detect at least a portion of the output pulse of light scattered by a target object located at a distance from the system.
A system includes one or more light sources configured to transmit at least a first light pulse encoding and a second light pulse encoding. The system also includes one or more detectors configured to detect a received light signal. The system further includes one or more processors configured to: determine a derivative data of the detected received light signal including by computing a derivative based on the detected received light signal, correlate the derivative data with at least a first reference data corresponding to the first light pulse encoding and a second reference data corresponding to the second light pulse encoding to determine a correlation result, and use the correlation result to identify which transmitted light pulse encoding corresponds to the received light signal.
A system comprises a light source, a scanner, a reference reflectivity material, a detector, and a processor. The light source is configured to emit light, and the scanner is configured to scan the emitted light across at least a portion of a reachable region including a field of regard through a window. The reference reflectivity material is included internally within a housing of the system and located in the reachable region but outside the field of regard. The detector is configured to detect at least a portion of the emitted light scattered by the reference reflectivity material. The processor is configured to analyze detected information from the detector to determine an electrical property of the emitted light.
The technology disclosed herein provides a method of operating a LiDAR system, the method including directing from a light source a distance-measuring beam of light on a target, receiving a reflection of the beam of light from the target on a fast mechanical scanner, compensating for angular offset induced by the fast mechanical scanner within the reflection of the beam of light using an offset compensator, and determining a distance between the light source and the target based on the offset corrected light beam output from the offset compensator and directed to a detector.
G01S 7/4863 - Detector arrays, e.g. charge-transfer gates
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
41.
SOLID STATE LIDAR ARCHITECTURE FOR LOW-COST ALIGNMENT
Implementations described and claimed herein provide an example LiDAR architecture that facilitates low-cost alignment of solid state components. The system includes at least a transceiver chip, a laser, and a u-shaped optical amplifier. The transceiver chip includes a signal preparation block that receives light from the laser and that modulates the laser light. The u-shaped optical amplifier is positioned to receive a light signal output from the signal preparation block and to output an amplified light signal back into the transceiver chip.
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices (100). Specifically, the systems and methods emit emission control pulse sets that are used to detect when objects (e.g., persons) are within a relatively close safety range (222). Then, higher energy long-range pulse sets are conditionally emitted only when objects were not detected within the safety range with the emission control pulse sets. These emission control pulse sets are emitted variable timing and/or variable energy that is determined at least in part on whether previous emission control pulse sets detected an object with the safety range. The use of emission control pulse sets with variable timing and/or variable energy can provide for improved reliability of object detection in a safety range, while still meeting the energy limits needed for eye safety.
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices. Specifically, the systems and methods emit emission control pulse sets that are used to detect when objects (e.g., persons) are within a relatively close safety range. Then, higher energy long-range pulse sets are conditionally emitted only when objects were not detected within the safety range with the emission control pulse sets. These emission control pulse sets are emitted variable timing and/or variable energy that is determined at least in part on whether previous emission control pulse sets detected an object with the safety range. The use of emission control pulse sets with variable timing and/or variable energy can provide for improved reliability of object detection in a safety range, while still meeting the energy limits needed for eye safety.
In one embodiment, a lidar system includes a light source configured to emit local-oscillator (LO) light and pulses of light, the emitted pulses of light including a first emitted pulse of light, where an optical frequency of the first emitted pulse of light is offset from an optical frequency of the LO light by a first frequency offset. The lidar system further includes a receiver configured to detect the LO light and a first received pulse of light, the first received pulse of light including light from the first emitted pulse of light scattered by a target located a distance from the lidar system. The receiver includes a detector, where: the LO light and the first received pulse of light are coherently mixed together at the detector, and the detector is configured to produce a photocurrent signal corresponding to the coherent mixing.
In one embodiment, a lidar system includes a wavelength-tunable light source configured to emit pulses of light, each emitted pulse of light having a particular wavelength of multiple different wavelengths. The lidar system also includes a scanner configured to scan the emitted pulses of light across a field of regard of the lidar system. The scanner includes (i) a beam deflector configured to angularly deflect each emitted pulse of light along a first scan axis according to the particular wavelength of the emitted pulse of light and (ii) a scan mirror configured to scan the emitted pulses of light along a second scan axis different from the first scan axis. The lidar system further includes a receiver configured to detect a received pulse of light that includes a portion of one of the emitted pulses of light scattered by a target located a distance from the lidar system.
A system includes an electronic circuit configured to provide a detected waveform including a first detected waveform portion corresponding to a first output light pulse triggered at a first trigger time and a second detected waveform portion corresponding to a second output light pulse triggered at a second trigger time. The system further includes one or more processors configured to determine a pulse metric associated with the second output light pulse including by being configured to determine a difference between a measured level on the second detected waveform portion and a modeled reference level determined based on a signal decay model and a measured pulse period.
G01S 17/14 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein a voltage or current pulse is initiated and terminated in accordance with the pulse transmission and echo reception respectively, e.g. using counters
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
A LiDAR system includes a first mirror positioned to receive the outgoing light beam from the laser; a second mirror positioned to receive a reflected light beam from the first mirror and to redirect the reflected light beam onto a target, and a detector that detects return light reflected off of the target. The second mirror of the optical periscope includes a cross-sectional area sized and shaped to substantially match a cross-sectional area of the reflected light beam to improve a quality of signal detected by the detector.
To dynamically control power in a lidar system, a controller identifies a triggering event and provides a control signal to a light source in the lidar system adjusting the power of light pulses emitted by the light source. The triggering event includes identifying a particular type of object within a threshold distance of the lidar system. In some scenarios, the power is adjusted to address eye-safety concerns.
A system comprises a wavelength-tunable light source and a controller. The controller is configured to cause attenuation of a light being generated by the wavelength-tunable light source during a transition period between a first wavelength to a second wavelength, cause the wavelength-tunable light source to change a wavelength of the light being generated by the wavelength-tunable light source from the first wavelength to the second wavelength, and allow a pulse of the light associated with the second wavelength to be emitted during a pulse period after the transition period.
H01S 3/10 - Controlling the intensity, frequency, phase, polarisation or direction of the emitted radiation, e.g. switching, gating, modulating or demodulating
H01S 3/0941 - Processes or apparatus for excitation, e.g. pumping using optical pumping by coherent light of a semiconductor laser, e.g. of a laser diode
H01S 3/094 - Processes or apparatus for excitation, e.g. pumping using optical pumping by coherent light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
09 - Scientific and electric apparatus and instruments
Goods & Services
LIDAR apparatus; sensors for determining position, velocity,
direction, and acceleration; sensors for use in controlling
the drive and operation of safety devices and equipment for
motor vehicles, namely, LIDAR sensors integrated with
electronic controllers; sensors and sensor systems comprised
of flash-based LIDAR apparatus that make up the systems for
detecting, identifying, and classifying objects in the
environment, analyzing and mapping visual data, and
generating 3D maps of the environment; sensors and sensor
systems comprised of flash-based laser beam scanning
apparatus that make up the systems for detecting,
identifying, and classifying objects in the environment,
analyzing and mapping visual data, and generating 3D maps of
the environment.
Implementations described and claimed herein provide a mechanically-scanning 3-dimensional light detection and ranging (3D LiDAR) system including a galvo mirror attached to an armature of a galvanometer to reflect a light signal generated by a light generator, the galvanometer comprising at least one permanent magnet, at least one coil configured to carry current to move the armature, wherein the galvo mirror is configured to reflect the light signal generated by the light generator towards a one or more objects and the galvo mirror is further configured to reflect light signal reflected from the one or more objects towards a light detector.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
A lidar system comprises one or more light sources, detectors, and processors. The light sources transmit pulse groups where each pulse group can include a light pulse in a first wavelength and a light pulse in a second wavelength with an encoding time delay between the pulses. A first transmit pulse group uses a first encoding time delay and a second transmit pulse group uses a second encoding time delay. The first and second encoding time delays are included in a history of transmitted encoding time delays. The detectors detect received light pulses in the first and second wavelengths. The processors perform correlations between a detected timing between a pair of received pulses and one or more encoding time delays to identify which transmit pulse group among candidate transmit pulse groups including the first and second transmit pulse groups corresponds to the pair of received pulses.
A waveguide grating antenna apparatus includes a substrate layer, a lower waveguide array layer upon the substrate, and an upper waveguide array layer positioned above the lower waveguide array layer. The lower waveguide array layer is composed of a plurality of first waveguides extending axially and a plurality of second waveguides extending axially and arranged in parallel and alternating in position with the plurality of first waveguides across the lower waveguide array layer. Each first waveguide is of a first maximum width. Each second waveguide is of a second maximum width narrower than the first maximum width and is spaced apart from each adjacent first waveguide. The upper waveguide array layer is composed of adjacent, separated elements extending axially along each first waveguide and each second waveguide.
G02B 6/12 - Light guidesStructural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind
54.
MAP DATA CO-REGISTRATION AND LOCALIZATION SYSTEM AND METHOD
Embodiments of architecture, systems, and methods used to provide map data, sensor data, and asset signature data including location data, depth data, and positional data for a terrestrially mobile entity, location and positional data for pseudo-fixed assets and dynamic assets relative to the terrestrially mobile entity via a combination of aerial sensor data and terrestrial data. Other embodiments may be described and claimed.
A system for detecting boundaries of lanes on a road is presented. The system includes an imaging system configured to produce a set of pixels associated with lane markings on a road. The system also includes one or more processors configured to detect boundaries of lanes on the road, including: receive, from the imaging system, the set of pixels associated with lane markings; partition the set of pixels into a plurality of groups, each of the plurality of groups associated with one or more control points; and generate a first spline that traverses the control points of the plurality of groups, the first spline describing a boundary of a lane on the road.
G06V 10/50 - Extraction of image or video features by performing operations within image blocksExtraction of image or video features by using histograms, e.g. histogram of oriented gradients [HoG]Extraction of image or video features by summing image-intensity valuesProjection analysis
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/77 - Processing image or video features in feature spacesArrangements for image or video recognition or understanding using pattern recognition or machine learning using data integration or data reduction, e.g. principal component analysis [PCA] or independent component analysis [ICA] or self-organising maps [SOM]Blind source separation
G06V 20/56 - Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
G08G 1/01 - Detecting movement of traffic to be counted or controlled
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
A lidar system includes one or more light sources configured to generate a first beam of light and a second beam of light, a scanner configured to scan the first and second beams of light across a field of regard of the lidar system, and a receiver configured to detect the first beam of light and the second beam of light scattered by one or more remote targets. The scanner includes a rotatable polygon mirror that includes multiple reflective surfaces angularly offset from one another along a periphery of the polygon mirror, the reflective surfaces configured to reflect the first and second beams of light to produce a series of scan lines as the polygon mirror rotates. The scanner also includes a pivotable scan mirror configured to (i) reflect the first and second beams of light and (ii) pivot to distribute the scan lines across the field of regard.
G02B 26/08 - Optical devices or arrangements for the control of light using movable or deformable optical elements for controlling the direction of light
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/08 - Systems determining position data of a target for measuring distance only
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
G02B 7/182 - Mountings, adjusting means, or light-tight connections, for optical elements for prismsMountings, adjusting means, or light-tight connections, for optical elements for mirrors for mirrors
H01L 25/16 - Assemblies consisting of a plurality of individual semiconductor or other solid-state devices the devices being of types provided for in two or more different subclasses of , , , , or , e.g. forming hybrid circuits
A method for classifying targets is proposed, which comprises the extraction of features from measurement data of one or several receiving elements of a sensor by means of a neuronal network or by means of a Gaussian Mixture Model, wherein the respective measurement data of the at least one receiving element of the sensor involve at least one section of a photon histogram, and wherein the neuronal network involves a fully connected neuronal network or a convolutional neuronal network.
G06V 10/00 - Arrangements for image or video recognition or understanding
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G06V 10/764 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using classification, e.g. of video objects
G06V 10/82 - Arrangements for image or video recognition or understanding using pattern recognition or machine learning using neural networks
58.
Generating environmental parameters based on sensor data using machine learning
First training sensor data detected by a plurality of real-world sensors are obtained. The first training sensor data is associated with physical environment conditions. Second training sensor data detected by a plurality of virtual sensors are obtained. The second training sensor data is associated with simulated physical conditions of a virtual environment. A machine learning model is trained using both real-world and virtual training datasets including the first training sensor data, the second training sensor data, and respective sensor setting parameters of the plurality of real-world sensors and the plurality of virtual sensors. The real-world and virtual training datasets used to train the machine learning model include indications associated with the respective sensor parameter settings including one or more of the following: different scan line settings or different exposure settings. The machine learning model is provided for use in generating current parameters of an environment in which a vehicle operates.
G05D 1/00 - Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
B60K 35/28 - Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics informationOutput arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the purpose of the output information, e.g. for attracting the attention of the driver
B60W 60/00 - Drive control systems specially adapted for autonomous road vehicles
A system comprises a light source, a scanner, a first detector, a second detector, and a processor. The light source is configured to emit light and the scanner is configured to scan the emitted light across at least a field of regard through a window. The first detector is configured to detect at least a portion of the emitted light scattered by a target located downrange from the system and the second detector is configured to detect at least a portion of the emitted light scattered by a close object located between the window and a minimum detection distance associated with the first detector. The processor is configured to analyze detected information from the second detector to provide an indication associated with detecting the close object.
A system comprises a light source, a scanner, a first detector, a second detector, and a processor. The light source is configured to emit light and the scanner is configured to scan the emitted light across a field of view through a window. The first detector is configured to detect at least a portion of the emitted light scattered by a target located downrange from the system and the second detector is configured to detect at least a portion of the emitted light scattered by a blocking contaminant on the window. The processor is configured to analyze detected information from the second detector to provide an indication associated with detecting the blocking contaminant on the window.
A waveguide grating antenna apparatus includes a substrate layer, an asymmetric waveguide array layer upon the substrate layer, and a waveguide grating array layer formed above the asymmetric waveguide array layer. The waveguide array layer is composed of two forms of waveguide structures arranged in parallel. Each waveguide of the first form extends continuously, has a first width, and is laterally separated from each adjacent waveguide of the first form by a gap distance. Each waveguide of the second form extends parallel to and between adjacent waveguides of the first form within the first gap distance and is narrower than each of the first width and the gap distance. Pairs of the second form are closer to lateral sides of a first alternating set of the first form. The waveguide grating is composed of adjacent, separated elements extending axially along each waveguide of the first form.
G02B 6/12 - Light guidesStructural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind
62.
LIDAR SYSTEM WITH ANGLE OF INCIDENCE DETERMINATION
In one embodiment, a lidar system includes a light source, a receiver, and a controller. The light source is configured to emit an optical signal. The receiver is configured to detect a received optical signal that includes a portion of the emitted optical signal that is scattered by a surface of a target located a distance from the lidar system, where the surface is oriented at an angle of incidence with respect to the emitted optical signal. The receiver is further configured to produce an electrical signal corresponding to the received optical signal. The controller is configured to determine, based on the electrical signal, the angle of incidence of the surface of the target.
In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan the emitted pulses of light across a field of regard of the lidar system. The scanner includes (i) a beam deflector configured to direct each emitted pulse of light along a first scan axis and (ii) a scan mirror configured to scan the emitted pulses of light along a second scan axis different from the first scan axis. The lidar system also includes a receiver that includes a one-dimensional detector array that includes multiple detector elements arranged along a direction corresponding to the first scan axis. The receiver is configured to (i) detect a received pulse of light that includes a portion of one of the emitted pulses of light scattered by a target and (ii) determine a time of arrival of the received pulse of light.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
Downloadable and recorded software for calculating and analyzing the position and velocity of objects in the surrounding environment; downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for calculating and analyzing the position and velocity of objects in the surrounding environment; providing online non-downloadable software for operating sensors, scanners, and LIDAR; providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR
In one embodiment, a lidar system includes a light source configured to emit a first set of optical signals that include a first optical signal. The lidar system also includes a scanner that includes a polygon mirror configured to: rotate around an axis of rotation at a rotation rate, and direct the first set of emitted optical signals into a field of regard of the lidar system with the polygon mirror rotating at a first rotation rate. The lidar system further includes a receiver configured to detect a first received optical signal that includes a portion of the first optical signal that is scattered by a target located a distance from the lidar system. The lidar system also includes a controller configured to adjust the rotation rate of the polygon mirror for a second set of optical signals emitted by the light source.
09 - Scientific and electric apparatus and instruments
Goods & Services
LIDAR apparatus; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; none of the foregoing for use in connection with industrial lasers
67.
Device for scanning frequency-modulated continuous wave (FMCW) LiDAR range measurement
A device for scanning frequency-modulated continuous wave (FMCW) LiDAR range measurement has a light source producing light having a varying frequency, a splitter splitting the light into reference light and output light, and an optical system having an optical axis. A plurality of free space couplers are arranged along a line such that the distance between adjacent free space couplers increases with increasing distance from the optical axis. Each free space coupler outcouples the output light into the free space and receives input light that was reflected at an object. A detector detects a superposition of the input light with the reference light, and a calculation unit determines the range to the object from the superposition detected by the detector.
G01S 17/34 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated using transmission of continuous, frequency-modulated waves while heterodyning the received signal, or a signal derived therefrom, with a locally-generated signal related to the contemporaneously transmitted signal
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 7/4913 - Circuits for detection, sampling, integration or read-out
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
An imaging system is described for generating an estimate for the virtual horizon for a moving vehicle. The estimate of the virtual horizon can correspond to lower and higher boundaries of a region within the field of regard, such that the virtual horizon is between the lower and the higher boundaries, in cases where determination of the virtual horizon may be unreliable due to traffic, weather or other road conditions that obscure the visibility in front of the vehicle the imaging system may switch to a static vertical scan density pattern having a broad central focus, which can mitigate the possibility that the system focuses on an incorrect virtual horizon and fails to capture significant objects or conditions in the roadway.
An imaging system is described for generating an estimate for a virtual horizon for a moving vehicle. The estimate is based on a lidar point cloud and on pitch rate data from a gyroscope. The lidar point cloud data estimates the horizon based on lidar scans that are updated at a first rate. The gyroscope data is updated at a second rate that is faster than the first rate and therefore can be used to augment the point cloud based horizon estimation to produce a more accurate horizon estimation when the vehicle is pitching at a high rate. The gyroscope data can also be used to correct individual point clouds, which may be distorted if the vehicle is pitching or rolling during an individual scan.
A scanner for a lidar system is configured to direct emitted light to scan a field of regard of the lidar system in accordance with a scan pattern. The scanner includes a mirror and an actuator assembly. The mirror includes a reflective surface and a rear surface and is pivotable along a mirror axle. The actuator assembly is disposed along the rear surface of the mirror and is configured to exert a torque on the mirror to cause the mirror to pivot about the mirror axle.
Scanning lidar systems and methods for performing a redundant beam scan to reduce data loss resulting from obscurants are presented. An example system comprises a first light source and a second light source having a spatial displacement relative to the first light source. The example system also includes a mirror assembly and an optical window configured to transmit the light pulses emitted from the light sources, wherein the spatial displacement of the second light source relative to the first light source is such that the first and second light pulses produce two pixels corresponding to a same portion of an image. The example system also includes a receiver configured to receive the light pulses when scattered by one or more targets, the receiver including two or more detectors configured to detect at least one of the light pulses and output an electric signal for generating the two pixels.
In one embodiment, a lidar system includes a light source configured to emit pulses of light, where each emitted pulse of light includes a spectral signature of multiple different spectral signatures. The lidar system also includes a receiver configured to detect a received pulse of light, the received pulse of light including light from one of the emitted pulses of light scattered by a target located a distance from the lidar system. The emitted pulse of light includes one of the spectral signatures. The receiver includes a detector configured to produce a photocurrent signal corresponding to the received pulse of light, a frequency-detection circuit configured to determine, based on the photocurrent signal, a spectral signature of the received pulse of light, and a pulse-detection circuit configured to determine, based on the photocurrent signal, a time-of-arrival of the received pulse of light.
A metasurface includes a plurality of Bragg mirrors, each having a defect cavity therein, arrayed in a grid. A heat source is provided for each of the plurality of Bragg mirrors. Each heat source is positioned to selectively modulate heat applied to its respective Bragg mirror and to impart a different phase shift via the applied heat from the heat source.
G02F 1/00 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulatingNon-linear optics
74.
Apparatus for generating backscatter histogram data for determining a diffuse backscatter during an optical runtime measurement and a method
wherein the histogram accumulation unit is set up to generate backscatter histogram data based upon the time-correlated histogram data received at the signal inputs.
A method for analyzing backscatter histogram data in an optical pulse runtime method, including the steps of receiving backscatter histogram data; and analyzing the received backscatter histogram data.
A system includes a light source, a receiver, and an enclosure. The light source is configured to emit an optical signal and the receiver is configured to detect a received optical signal including at least a portion of the emitted optical signal scattered by an external target. The enclosure includes a housing and a semiconductor window. The semiconductor window includes a semiconductor material configured to allow at least a portion of the emitted optical signal and the received optical signal to pass through the semiconductor window. The enclosure, including the housing and the semiconductor window, is configured to attenuate radio-frequency (RF) electromagnetic radiation.
A system includes a light source, an optical splitter, and a pulse-energy measurement circuit. The light source is configured to generate an emitted beam of light that includes an emitted pulse of light. The optical splitter is configured to split the emitted beam of light to produce at least (i) a test beam of light that includes a test pulse of light, the test pulse of light including a first portion of the emitted pulse of light and (ii) an output beam of light that includes an output pulse of light, the output pulse of light including a second portion of the emitted pulse of light allowed to at least in part exit the system. The pulse-energy measurement circuit is configured to receive the test pulse of light and determine a numerical value corresponding to an individual energy amount of the test pulse of light.
G01S 17/10 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01R 29/027 - Indicating that a pulse characteristic is either above or below a predetermined value or within or beyond a predetermined range of values
A lidar system for scanning a field of regard is described having first and second light beams and first and second detectors. The light beams pass through a lateral beam shifting device prior to being directed to a beam scanner. The lateral beam shifting device reduces the overall size of the emitted and returned light beams thus reducing the size of scanner components. Lateral beam shifting devices may be a single rhomboid prism, a pair of rhomboid prisms, a pair of mirrors, or a single mirror or prism.
In one embodiment, a lidar system includes a light source configured to emit optical pulses using multiple pulse intervals (PIs) that include a first PI and a second PI, where the first PI and the second PI are not equal. The lidar system also includes a receiver configured to detect multiple input optical pulses. The lidar system further includes a processor configured to generate multiple pixels, where each pixel of the multiple pixels corresponds to one of the multiple input optical pulses and is associated with one of the PIs. The processor is further configured to (i) determine, for a particular pixel of the multiple pixels, a group of nearby pixels and (ii) determine whether the particular pixel is range-wrapped based at least in part on the PI associated with each pixel of the group of nearby pixels.
A method for generating combined scenarios for testing an object detection unit, wherein the method comprises provision of first sensor data of a first scenario and of second sensor data of a second scenario, wherein the first sensor data and the second sensor data in each case are a point cloud comprising a plurality of points, wherein the method further comprises a classification of the respective points of the first sensor data and of the respective points of the second sensor data into relevant or not relevant and merging of the first sensor data and of the second sensor data for obtaining third sensor data of a combined scenario, wherein only relevant points of the first sensor data and relevant points of the second sensor data are merged to form third sensor data of the combined scenario.
G06V 10/80 - Fusion, i.e. combining data from various sources at the sensor level, preprocessing level, feature extraction level or classification level
81.
Scanning laser devices and methods with non-uniform optical expansion and pulse energy variation
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices. Specifically, the systems and methods utilize a non-uniform variation in optical expansion coupled with variation in the energy level of laser light pulses to provide an improved effective range over a scanning area. In general, the improved effective range varies over the scan field, with relatively long effective range in some areas of the scan field and relatively short effective range in other areas of the scan field. This varying range over the scan field is facilitated by expansion optics that provide a non-uniform variation in optical expansion for laser light pulses relative to position along a first axis in the scan field and by a light source controller that varies the energy level of the laser light pulses according to position along the first axis of the scan field.
An optical receiver including an ASIC, a light detector element, and a protective mask is disclosed. The light detector element is disposed on the ASIC and has a top surface oriented toward incident light, the top surface including a portion configured to receive the incident light and via which the incident light reaches an active area of the light detector element. The protective mask is placed over the ASIC so as to (i) cover, from the incident light, a portion of the ASIC, and (ii) provide an aperture that defines an optical path for the incident light through the protective mask to the portion of the top surface of the light detector element.
G02B 6/12 - Light guidesStructural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind
In one embodiment, a lidar system includes a light source configured to emit pulses of light. The lidar system also includes a scanner configured to scan at least a portion of the emitted pulses of light along an interlaced scan pattern, including: (i) scanning the portion of the emitted pulses of light substantially parallel to a first scan axis to produce multiple scan lines of the interlaced scan pattern; and (ii) distributing the scan lines along a second scan axis in an interlaced manner, where the interlaced scan pattern is an n-fold interlaced scan pattern that includes n sub-scans, where: n is an integer greater than or equal to 2, each sub-scan includes two or more of the scan lines of the interlaced scan pattern, and the n sub-scans are scanned sequentially where a first sub-scan of the n sub-scans is scanned prior to a second sub-scan.
An optical receiver including an ASIC, a light detector element, and a protective mask is disclosed. The light detector element is disposed on the ASIC and has a top surface oriented toward incident light, the top surface including a portion configured to receive the incident light and via which the incident light reaches an active area of the light detector element. The protective mask is placed over the ASIC so as to (i) cover, from the incident light, a portion of the ASIC, and (ii) provide an aperture that defines an optical path for the incident light through the protective mask to the portion of the top surface of the light detector element.
The embodiments described herein provide systems and methods that can improve performance in scanning laser devices (100). Specifically, the systems and methods utilize a non-uniform variation in optical expansion coupled with variation in the energy level of laser light pulses to provide an improved effective range over a scanning area. In general, the improved effective range varies over the scan field (114), with relatively long effective range in some areas of the scan field and relatively short effective range in other areas of the scan field. This varying range over the scan field is facilitated by expansion optics (108) that provide a non-uniform variation in optical expansion for laser light pulses relative to position along a first axis in the scan field and by a light source controller that varies the energy level of the laser light pulses according to position along the first axis of the scan field.
In one embodiment, a lidar system includes a light source configured to emit pulses of light. The emitted pulses of light include one or more series of standard-resolution pulses alternating with one or more series of high-resolution pulses. Each series of the standard-resolution pulses includes multiple pulses having a standard pulse period, and each series of the high-resolution pulses includes multiple pulses having a high-resolution pulse period. The standard pulse period is greater than or equal to a round-trip time associated with a maximum range of the lidar system, and the high-resolution pulse period is less than the standard pulse period. The lidar system also includes a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard.
G01S 7/4861 - Circuits for detection, sampling, integration or read-out
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
G01S 17/42 - Simultaneous measurement of distance and other coordinates
G01S 17/89 - Lidar systems, specially adapted for specific applications for mapping or imaging
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
87.
Circuit for measuring pulse energy in a lidar system
A receiver of a lidar system configured to receive one or more scattered light pulses from a target in a field of regard of the lidar system. The receiver includes a detector that emits an electric signal representative of the received light pulse in response to detecting the received light pulse. The receiver further includes one or more analog circuits configured to receive the electric signal from the detector, sample one or more voltages of the electric signal, and determine the energy of the received light pulse based at least on the one or more sampled voltages. The lidar system may further calculate a reflectivity and/or other characteristics of the target based at least on the energy of the received light pulse.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and lidar for motor vehicles.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and lidar for motor vehicles.
A system comprises an interface and an optical network. The interface is configured to receive a pulse of light emitted by a lidar device and the optical network is configured to provide a particular temporal delay of one or more different temporal delays to the received pulse of light. The system is configured to direct the temporal delayed pulse to the lidar device.
A system comprises at a first interface, a first optical guide, a second interface, and a second optical guide. A portion of the first interface is configured to receive a first pulse of light emitted by a lidar device and a portion of the second interface is configured to receive a second pulse of light emitted by the lidar device. The first optical guide is configured to propagate the received first pulse of light, wherein at least a portion of the first interface is configured to emit towards the lidar device a version of the received first pulse that propagated through the first optical guide. The second optical guide is configured to propagate the received second pulse of light, wherein at least a portion of the second interface is configured to emit towards the lidar device a version of the received second pulse that propagated through the second optical guide.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and lidar for motor vehicles.
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
LIDAR apparatus; driver assistance systems for motor
vehicles featuring LIDAR; sensors for determining position,
velocity, direction, and acceleration; sensors for use in
controlling the drive and operation of safety devices and
equipment for motor vehicles, namely, LIDAR sensors
integrated with electronic controllers; sensors and sensor
systems for detecting, identifying, and classifying objects
in the environment, analyzing and mapping visual data, and
generating 3D maps of the environment; computer hardware and
downloadable and recorded software for use in connection
with operating sensors, scanners, and LIDAR; embedded
component, namely, a miniature video, picture, image and
data projector enabling the projection of video, pictures,
images and data onto an external surface; computer software
and hardware featuring technology that enables portable
projection of video, pictures, images and data onto an
external surface. Providing non-downloadable software for use in connection
with operating sensors, scanners, and LIDAR; providing
non-downloadable software for use in association with driver
assistance systems for motor vehicles featuring LIDAR;
providing scientific and technological services, namely,
consultation, research and development in connection with
operating sensors, scanners, and LIDAR; design of operating
sensors, scanners, and LIDAR for motor vehicles.
94.
Coherent pulsed lidar system with two-sided detector
In one embodiment, a lidar system includes a light source configured to emit (i) local-oscillator light and (ii) pulses of light. The lidar system also includes a receiver configured to detect the local-oscillator light and a received pulse of light, the received pulse of light including a portion of one of the emitted pulses of light scattered by a target located a distance from the lidar system. The receiver includes a detector configured to produce a photocurrent signal corresponding to a coherent mixing of the local-oscillator light and the received pulse of light. The detector includes a first input side and a second input side located opposite the first input side, where the received pulse of light is incident on the first input side of the detector, and the local-oscillator light is incident on the second input side of the detector.
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
H10F 30/222 - Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors the devices having potential barriers, e.g. phototransistors the devices being sensitive to infrared, visible or ultraviolet radiation the devices having only one potential barrier, e.g. photodiodes the potential barrier being a PN heterojunction
H10F 30/223 - Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors the devices having potential barriers, e.g. phototransistors the devices being sensitive to infrared, visible or ultraviolet radiation the devices having only one potential barrier, e.g. photodiodes the potential barrier being a PIN barrier
H10F 30/225 - Individual radiation-sensitive semiconductor devices in which radiation controls the flow of current through the devices, e.g. photodetectors the devices having potential barriers, e.g. phototransistors the devices being sensitive to infrared, visible or ultraviolet radiation the devices having only one potential barrier, e.g. photodiodes the potential barrier working in avalanche mode, e.g. avalanche photodiodes
95.
Light source for frequency-modulated continuous wave (FMCW) LiDAR device
A light source for a frequency-modulated continuous-wave (FMCW) LiDAR device is formed by a photonic integrated circuit and comprises a substrate and a multilayer structure. Formed in the multilayer structure is a semiconductor laser that is received in a recess etched into the multilayer structure. An optical path between the semiconductor laser and a reflector forms an external cavity for the semiconductor laser. The external cavity includes a variable attenuator causing an attenuation of light guided in the cavity optical waveguide. The external cavity may also or alternatively include an optical phase modulator.
G01S 7/481 - Constructional features, e.g. arrangements of optical elements
G01S 17/32 - Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
G02F 1/01 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulatingNon-linear optics for the control of the intensity, phase, polarisation or colour
G02F 1/21 - Devices or arrangements for the control of the intensity, colour, phase, polarisation or direction of light arriving from an independent light source, e.g. switching, gating or modulatingNon-linear optics for the control of the intensity, phase, polarisation or colour by interference
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
LIDAR apparatus; driver assistance systems comprised of LIDAR apparatus, electronic controllers, cameras, velocity sensors, and acceleration sensors for motor vehicles featuring LIDAR; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Sensors and sensor systems comprised of MEMS-based laser beam scanning apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Computer hardware and downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for operating sensors, scanners, and LIDAR; Providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR; Providing scientific and technological services, namely, consultation, research and development in connection with operating sensors, scanners and LIDAR apparatus; Design of operating sensors, scanners, and lidar for motor vehicles
09 - Scientific and electric apparatus and instruments
42 - Scientific, technological and industrial services, research and design
Goods & Services
LIDAR apparatus; driver assistance systems comprised of LIDAR apparatus, electronic controllers, cameras, velocity sensors, and acceleration sensors for motor vehicles featuring LIDAR; sensors for determining position, velocity, direction, and acceleration; Sensors for use in controlling the drive and operation of safety devices and equipment for motor vehicles, namely, LIDAR sensors integrated with electronic controllers; Sensors and sensor systems comprised of flash-based LIDAR apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Sensors and sensor systems comprised of MEMS-based laser beam scanning apparatus that make up the systems for detecting, identifying, and classifying objects in the environment, analyzing and mapping visual data, and generating 3D maps of the environment; Computer hardware and downloadable and recorded software for operating sensors, scanners, and LIDAR Providing online non-downloadable software for operating sensors, scanners, and LIDAR; Providing online non-downloadable software for operating driver assistance systems for motor vehicles featuring LIDAR; Providing scientific and technological services, namely, consultation, research and development in connection with operating sensors, scanners and LIDAR apparatus; Design of operating sensors, scanners, and Lidar for motor vehicles
A system includes a signal transmitter configured to emit a signal pulse and a signal receiver configured to receive one or more reflected pulses of the emitted signal pulse, wherein the signal receiver includes a plurality of comparators configured to sample the one or more reflected pulses at different intensity threshold levels to determine a group of slices representative of the received one or more reflected pulses, wherein each slice of at least a portion of the group of slices identifies a corresponding timing of when at least a portion of the received one or more reflected pulses met a corresponding intensity threshold level. The system further includes one or more processors configured to use the determined slices to reconstruct the one or more reflected pulses.
G01S 7/4865 - Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
G01S 17/26 - Systems determining position data of a target for measuring distance only using transmission of interrupted, pulse-modulated waves wherein the transmitted pulses use a frequency-modulated or phase-modulated carrier wave, e.g. for pulse compression of received signals
G01S 17/931 - Lidar systems, specially adapted for specific applications for anti-collision purposes of land vehicles
99.
SCANNING LASER DEVICES AND METHODS WITH DETECTORS FOR SENSING LOW ENERGY REFLECTIONS
The embodiments described herein provide systems and methods that can facilitate increased detector sensitivity and reliability in a scanning laser device (100). Specifically, the systems and methods utilize detectors with multiple sensors that are configured to receive reflections of laser light pulses from objects within a scan field (114). These multiple sensors are configured to receive these reflections through the same optical assembly (104) used to scan the laser light pulses out to the scan field. Furthermore, the multiple sensors are configured to at least partially cancel the effects of back reflections from within the optical assembly itself. The cancellation of the effects of back reflections from within the optical assembly can improve the sensitivity of the detector, particularly for the detection of low energy reflections of laser pulses from within the scan field.
A sequence of images generated at respective times by one or more sensors configured to sense an environment through which objects are moving relative to the one or more sensors is received. A message passing graph having a multiplicity of layers associated with the sequence of images is constructed. A neural network supported by the message passing graph is trained. The training includes performing a pass through the message passing graph in a forward direction including by adding a new feature node based on a feature detection and a new edge node and performing a pass through the message passing graph in a backward direction, including by updating at least one edge node of the message passing graph. Multiple features are tracked through the sequence of images, including passing messages through the message passing graph.
