Method and System for Ladar Transmission with Interline Skipping for Dynamic Scan Patterns

• US 20160047897A1
• Filed: 08/14/2015
• Published: 02/18/2016
• Est. Priority Date: 08/15/2014
• Status: Active Grant

• Current Assignee: AEye, Inc.
• Original Assignee: US Ladar, Inc.
• Inventors: Dussan, Luis Carlos
• Granted Patent: US 9,897,689 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 17/10 using transmission of interrupted, pulse-modulated waves determination of distance by phase measurements G01S17/32
• CPC Class Codes: G01S 17/42 Simultaneous measurement of distance and other co-ordinates indirect measurement G01S17/46
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 17/87 Combinations of systems using electromagnetic waves other than radio waves
• CPC Class Codes: G01S 17/89 for mapping or imaging
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G01S 7/4814 of transmitters alone
• CPC Class Codes: G01S 7/4817 relating to scanning
• CPC Class Codes: G01S 7/484 Transmitters
• CPC Class Codes: G01S 7/4861 Circuits for detection, sampling, integration or read-out
• CPC Class Codes: G01S 7/499 using polarisation effects

Abstract

Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where a dynamic scan pattern for a scanning ladar transmission system includes interline skipping and detouring.

Claims

1. A method comprising:

processing a shot list, the shot list comprising a plurality of range points for targeting by a scanning ladar transmission system;

controlling a dynamic scan pattern for the scanning ladar transmission system by scanning a mirror to a plurality of mirror scan positions based on the processed shot list to target the range points of the processed shot list, wherein the mirror scan positions define where the scanning ladar transmission system is targeted, wherein the dynamic scan pattern includes at least one member of the group consisting of interline skipping and interline detouring; and

transmitting, by the controlled scanning ladar transmission system, a plurality of ladar pulses toward the range points of the processed shot list in accordance with the dynamic scan pattern.

2. The method of claim 1 wherein the at least one member comprises interline skipping.

3. The method of claim 2 wherein the mirror comprises a first mirror and a second mirror, the first mirror scanning with respect to a first axis for targeting the scanning ladar transmission system along the first axis, the second mirror scanning with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the controlling step comprises;

scanning the first mirror in a plurality of directions in a resonant mode; and

scanning the second mirror in a plurality of directions in a point-to-point mode based on the processed shot list.

4. The method of claim 2 wherein the mirror comprises a first mirror and a second mirror, the first mirror scanning with respect to a first axis for targeting the scanning ladar transmission system along the first axis, the second mirror scanning with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the controlling step comprises;

scanning the first mirror in one direction in a non-resonant mode; and

scanning the second mirror in a plurality of directions in a point-to-point mode based on the processed shot list.

5. The method of claim 4 wherein the first mirror comprises a spinning polygon mirror.

6. The method claim 2 further comprising;

generating the shot list to define the dynamic scan pattern.

7. The method of claim 6 wherein the generating step comprises;

a processor sorting a plurality of the range points into a sort order to create the shot list, wherein the sorting comprises the processor identifying a plurality of interline skips within the dynamic scan pattern based on a parameter indicative of an amount of time needed by the scanning ladar transmission system to scan from a current row to another row.

8. The method of claim 7 wherein the sorting further comprises the processor computing a plurality of data values between a plurality of pairs of range points, the computed data values being indicative of an amount of time needed by the scanning ladar transmission system to scan from the first range point of the pair to the second range point of the pair, and wherein the identifying step further comprises the processor identifying a plurality of the interline skips within the dynamic scan pattern based on a comparison between the computed data values and the parameter indicative of the amount of time needed by the scanning ladar transmission system to scan from the current row to another row.

9. The method of claim 7 wherein the sorting further comprises the processor identifying a plurality of line repeats within the dynamic scan pattern based on a parameter indicative of an amount of time needed between successive ladar pulses.

10. The method of claim 9 wherein each range point has an associated row identifier and an associated column identifier, and wherein the sorting step comprises:

the processor sorting the range points into row/column order according to their associated row and column identifiers such that the range points are grouped in row order, and within rows by column order;

the processor computing a plurality of data values between successive sorted range points in the row/column order, the computed data values being indicative of an amount of time needed by the scanning ladar transmission system to scan from a first of the successive range points to a second of the successive range points;

for each of a plurality of successive sorted range points in the row/column order that share the same row, the processor (1) performing a first comparison between the computed data value for those successive range points and the parameter indicative of the amount of time needed between successive ladar pulses, and (2) in response to the first comparison resulting in a determination that those successive range points sharing the same row are too close together to target with successive ladar pulses, identifying a line repeat and relegating the second of the successive range points for that first comparison to the line repeat;

for each of a plurality of successive sorted range points in the row/column order that do not share the same row, (1) identifying whether those successive sorted range points are eligible for an interline skip based on line repeat status, (2) performing a second comparison between the computed data value for those successive range points and the parameter indicative of the amount of time needed by the scanning ladar transmission system to scan from a current row to another row, and (3) in response to the second comparison resulting in a determination that those successive range points are sufficiently far apart to target with successive ladar pulses via an interline skip, identifying an interline skip for scanning from the first of those successive range points to the second of those successive range points.

11. The method of claim 1 wherein the at least one member comprises interline detouring.

12. The method of claim 11 wherein the mirror comprises a first mirror and a second mirror, the first mirror scanning with respect to a first axis for targeting the scanning ladar transmission system along the first axis, the second mirror scanning with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the controlling step comprises;

scanning the first mirror in a plurality of directions in a resonant mode; and

scanning the second mirror in a plurality of directions in a point-to-point mode based on the processed shot list.

13. The method of claim 12 further comprising a processor identifying a plurality of interline detours for the shot list based on a parameter indicative of an amount of time needed by the scanning ladar transmission system to (i) scan from a current row to another row, (ii) scan to a range point in the another row, and (iii) return to the current row, whether any interline detours are to be used for the scanning ladar transmission system to target the range points.

14. The method of claim 11 wherein the mirror comprises a first mirror and a second mirror, the first mirror scanning with respect to a first axis for targeting the scanning ladar transmission system along the first axis, the second mirror scanning with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the controlling step comprises;

scanning the first mirror in one direction in a non-resonant mode; and

scanning the second mirror in a plurality of directions in a point-to-point mode based on the processed shot list.

15. The method of claim 11 further comprising;

generating the shot list to define the dynamic scan pattern, wherein the generating step comprises;

a processor sorting a plurality of the range points into a sort order to create the shot list, wherein the sorting comprises the processor identifying a plurality of interline detours within the dynamic scan pattern based on a parameter indicative of an amount of time needed by the scanning ladar transmission system to (i) scan from a current row to another row, (ii) scan to a range point in the another row, and (iii) return to the current row.

16. An apparatus comprising:

a scanning ladar transmission system configured to transmit a plurality of ladar pulses toward a plurality of range points in accordance with a dynamic scan pattern that includes at least one member of the group consisting of interline skipping and interline detouring.

17. The apparatus of claim 16 further comprising:

a processor configured to process a plurality of range points to create an ordered set of range points, each range point having an associated row identifier and an associated column identifier that together define a mirror scan position, the ordered set serving as a shot list for the scanning ladar transmission system, wherein the processor, as part of the processing operation, is further configured to;

determine, based on a parameter indicative of an amount of time needed by the scanning ladar transmission system to scan from a current row to another row, whether any interline skips are to be used by the scanning ladar transmission system to target the range points;

sort the range points into the ordered set based on the interline skip determinations; and

in response to a determination that an interline skip is to be used, tag the shot list with interline skip identifier within the ordered set at a location where the interline skip is to be performed; and

a beam scanner of the scanning ladar transmission system, the beam scanner comprising a mirror, the beam scanner configured to scan the mirror to a plurality of mirror scan positions in accordance with the shot list including any interline skip identifiers present therein to target the range points via the dynamic scan pattern, wherein the mirror scan positions define where the scanning ladar transmission system is targeted; and

wherein the scanning ladar transmission system is further configured to transmit, via the scanning mirror, a plurality of ladar pulses toward the range points of the shot list in accordance with the dynamic scan pattern.

18. The apparatus of claim 17 wherein the processor, as part of the processing operation, is further configured to:

for each of a plurality of pairs of range points, (1) compute a data value as a function of the row and column identifiers associated with the range points of the pair such that the computed data value is indicative of an amount of time needed by the scanning ladar transmission system to scan from a first range point of the pair to a second range point of the pair, and (2) perform the interline skip determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system to scan from a current row to another row.

19. The apparatus of claim 18 further comprising;

wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted, and wherein the beam scanner is further configured to scan at least one of the first and second mirrors as a function of the shot list.

20. The apparatus of claim 17 wherein the processor, as part of the processing operation, is further configured to

determine, based on a parameter indicative of an amount of time needed by the scanning ladar transmission system between successive ladar pulses, whether any line repeats are to be used for the scanning ladar transmission system to target the range points;

sort the range points into the ordered set based on the line repeat determinations and the interline skip determinations; and

in response to a determination that a line repeat is to be used, tag the shot list with a line repeat identifier within the ordered set at a location where the line repeat is to be performed; and

wherein the beam scanner is further configured to scan the mirror to a plurality of mirror scan positions in accordance with the shot list including any interline skip identifiers and any line repeat identifiers present therein to target the range points via the dynamic scan pattern.

21. The apparatus of claim 20 wherein the processor, as part of the processing operation, is further configured to:

for each of a plurality of pairs of range points, (1) compute a data value as a function of the row and column identifiers associated with the range points of the pair such that the computed data value is indicative of an amount of time needed by the scanning ladar transmission system to scan from a first range point of the pair to a second range point of the pair, (2) perform the line repeat determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system between successive ladar pulses, and (3) perform the interline skip determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system to scan from a current row to another row.

22. The apparatus of claim 21 wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the beam scanner is further configured to scan at least one of the first and second mirrors as a function of the shot list.

23. The apparatus of claim 20 wherein the processor, as part of the processing operation, is further configured to

determine, based on a parameter indicative of an amount of time needed by the scanning ladar transmission system to (i) scan from a current row to another row, (ii) scan to a range point in the another row, and (iii) return to the current row, whether any interline detours are to be used for the scanning ladar transmission system to target the range points;

sort the range points into the ordered set based on the interline detour determinations, the line repeat determinations, and the interline skip determinations; and

in response to a determination that an interline detour is to be used, tag the shot list with an interline detour identifier within the ordered set at a location where the interline detour is to be performed; and

wherein the beam scanner is further configured to scan the mirror to a plurality of mirror scan positions in accordance with the shot list including any interline skip identifiers, any line repeat identifiers, and any interline detour identifiers present therein to target the range points via the dynamic scan pattern.

24. The apparatus of claim 23 wherein the processor, as part of the processing operation, is further configured to:

for each of a plurality of pairs of range points, (1) compute a data value as a function of the row and column identifiers associated with the range points of the pair such that the computed data value is indicative of an amount of time needed by the scanning ladar transmission system to scan from a first range point of the pair to a second range point of the pair, (2) perform the line repeat determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system between successive ladar pulses, (3) perform the interline skip determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system to scan from a current row to another row, and (4) perform the interline detour determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system to (i) scan from a current row to another row, (ii) scan to a range point in the another row, and (iii) return to the current row.

25. The apparatus of claim 24 wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the beam scanner is further configured to scan at least one of the first and second mirrors as a function of the shot list.

26. The apparatus of claim 17 further comprising:

a beam scanner controller of the scanning ladar transmission system, wherein the processor is part of the beam scanner controller, and wherein the beam scanner controller is further configured to (1) generate a control signal as a function of the shot list, and (2) provide the control signal the beam scanner; and

wherein the beam scanner is configured to scan the mirror in response to the control signal.

27. The apparatus of claim 26 wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) in response to a first control signal from the beam scanner controller, scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) in response to a second control signal from the beam scanner controller, scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the beam scanner is further controller is further configured (1) generate the first control signal as a function of the shot list, (2) generate the second control signal, and (3) provide the first and second control signals to the beam scanner.

28. The apparatus of claim 27 wherein the beam scanner controller is further configured to generate the second control signal as a function of the shot list.

29. The apparatus of claim 17 further comprising:

a beam scanner controller of the scanning ladar transmission system, the beam scanner controller in communication with the processor and the beam scanner, wherein the beam scanner controller is configured to (1) receive the shot list from the processor, (2) generate a control signal as a function of the received shot list, and (3) provide the control signal the beam scanner; and

wherein the beam scanner is configured to scan the mirror in response to the control signal.

30. The apparatus of claim 29 wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) in response to a first control signal from the beam scanner controller, scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) in response to a second control signal from the beam scanner controller, scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the beam scanner is further controller is further configured (1) generate the first control signal as a function of the shot list, (2) generate the second control signal, and (3) provide the first and second control signals to the beam scanner.

31. The apparatus of claim 30 wherein the beam scanner controller is further configured to generate the second control signal as a function of the shot list.

32. The apparatus of claim 17 further comprising:

a light source of the scanning ladar transmission system, wherein the light source is configured to generate a plurality of ladar pulses in response to a plurality of firing commands that are coordinated with the shot list, and wherein the light source is positioned to direct its ladar pulses onto the scanning mirror.

33. The apparatus of claim 16 further comprising:

a processor configured to process a plurality of range points to create an ordered set of range points, each range point having an associated row identifier and an associated column identifier that together define a mirror scan position, the ordered set serving as a shot list for the scanning ladar transmission system, wherein the processor, as part of the processing operation, is further configured to;

determine, based on a parameter indicative of an amount of time needed by the scanning ladar transmission system to (i) scan from a current row to another row, (ii) scan to a range point in the another row, and (iii) return to the current row, whether any interline detours are to be used for the scanning ladar transmission system to target the range points;

sort the range points into the ordered set based on the interline detour determinations; and

in response to a determination that an interline detour is to be used, tag the shot list with interline detour identifier within the ordered set at a location where the interline detour is to be performed; and

a beam scanner of the scanning ladar transmission system, the beam scanner comprising a mirror, the beam scanner configured to scan the mirror to a plurality of mirror scan positions in accordance with the shot list including any interline detour identifiers present therein to target the range points via the dynamic scan pattern, wherein the mirror scan positions define where the scanning ladar transmission system is targeted; and

wherein the scanning ladar transmission system is further configured to transmit, via the scanning mirror, a plurality of ladar pulses toward the range points of the shot list in accordance with the dynamic scan pattern.

34. The apparatus of claim 33 wherein the processor, as part of the processing operation, is further configured to:

for each of a plurality of pairs of range points, (1) compute a data value as a function of the row and column identifiers associated with the range points of the pair such that the computed data value is indicative of an amount of time needed by the scanning ladar transmission system to scan from a first range point of the pair to a second range point of the pair, and (2) perform the interline detour determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system to (i) scan from a current row to another row, (ii) scan to a range point in the another row, and (iii) return to the current row.

35. The apparatus of claim 34 further comprising;

wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted, and wherein the beam scanner is further configured to scan at least one of the first and second mirrors as a function of the shot list.

36. The apparatus of claim 33 wherein the processor, as part of the processing operation, is further configured to

determine, based on a parameter indicative of an amount of time needed by the scanning ladar transmission system between successive ladar pulses, whether any line repeats are to be used for the scanning ladar transmission system to target the range points;

sort the range points into the ordered set based on the line repeat determinations and the interline detour determinations; and

in response to a determination that a line repeat is to be used, tag the shot list with a line repeat identifier within the ordered set at a location where the line repeat is to be performed; and

wherein the beam scanner is further configured to scan the mirror to a plurality of mirror scan positions in accordance with the shot list including any interline detour identifiers and any line repeat identifiers present therein to target the range points via the dynamic scan pattern.

37. The apparatus of claim 36 wherein the processor, as part of the processing operation, is further configured to:

for each of a plurality of pairs of range points, (1) compute a data value as a function of the row and column identifiers associated with the range points of the pair such that the computed data value is indicative of an amount of time needed by the scanning ladar transmission system to scan from a first range point of the pair to a second range point of the pair, (2) perform the line repeat determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system between successive ladar pulses, and (3) perform the interline detour determinations based on the computed data values as compared to the parameter indicative of the amount of time needed by the scanning ladar transmission system to (i) scan from a current row to another row, (ii) scan to a range point in the another row, and (iii) return to the current row.

38. The apparatus of claim 37 wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the beam scanner is further configured to scan at least one of the first and second mirrors as a function of the shot list.

39. The apparatus of claim 33 further comprising:

a beam scanner controller of the scanning ladar transmission system, wherein the processor is part of the beam scanner controller, and wherein the beam scanner controller is further configured to (1) generate a control signal as a function of the shot list, and (2) provide the control signal the beam scanner; and

wherein the beam scanner is configured to scan the mirror in response to the control signal.

40. The apparatus of claim 39 wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) in response to a first control signal from the beam scanner controller, scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) in response to a second control signal from the beam scanner controller, scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the beam scanner is further controller is further configured (1) generate the first control signal as a function of the shot list, (2) generate the second control signal, and (3) provide the first and second control signals to the beam scanner.

41. The apparatus of claim 40 wherein the beam scanner controller is further configured to generate the second control signal as a function of the shot list.

42. The apparatus of claim 33 further comprising:

a beam scanner controller of the scanning ladar transmission system, the beam scanner controller in communication with the processor and the beam scanner, wherein the beam scanner controller is configured to (1) receive the shot list from the processor, (2) generate a control signal as a function of the received shot list, and (3) provide the control signal the beam scanner; and

wherein the beam scanner is configured to scan the mirror in response to the control signal.

43. The apparatus of claim 42 wherein the mirror comprises a first mirror and a second mirror, wherein the beam scanner is further configured to (1) in response to a first control signal from the beam scanner controller, scan the first mirror with respect to a first axis for targeting the scanning ladar transmission system along the first axis, and (2) in response to a second control signal from the beam scanner controller, scan the second mirror with respect to a second axis that is orthogonal to the first axis for targeting the scanning ladar transmission system along the second axis, wherein the combination of the mirror scan positions for the first and second mirrors defines the range points to which the scanning ladar transmission system is targeted;

and

wherein the beam scanner is further controller is further configured (1) generate the first control signal as a function of the shot list, (2) generate the second control signal, and (3) provide the first and second control signals to the beam scanner.

44. The apparatus of claim 43 wherein the beam scanner controller is further configured to generate the second control signal as a function of the shot list.

45. The apparatus of claim 33 further comprising:

a light source of the scanning ladar transmission system, wherein the light source is configured to generate a plurality of ladar pulses in response to a plurality of firing commands that are coordinated with the shot list, and wherein the light source is positioned to direct its ladar pulses onto the scanning mirror.

46. A method comprising:

translating by a processor a range point list for ladar scanner targeting into a shot list for ladar scanner targeting in a manner whereby the shot list supports a dynamic scan pattern which includes at least one member of the group consisting of interline skipping and interline detouring, wherein the range point list comprises a plurality of range points, and wherein the shot list comprises a plurality of ordered range points from the range point list.

47. The method of claim 46 wherein the at least one member comprises interline skipping.

48. The method of claim 47 wherein the translating step further comprises the processor re-ordering range points from the range point list based on a parameter indicative of an amount of time needed by the ladar scanner to scan from a current row to another row.

49. The method of claim 47 wherein the translating step comprises the processor re-ordering range points from the range point list based on a parameter indicative of a minimum amount of time required between successive ladar pulses.

50. The method of claim 47 wherein the dynamic scan pattern further includes interline detouring, and wherein the translating step further comprises the processor re-ordering range points from the range point list based on a parameter indicative of a detour time needed by the ladar scanner to accommodate an interline detour.

51. The method of claim 46 wherein the at least one member comprises interline detouring.

52. The method of claim 51 wherein the translating step further comprises the processor re-ordering range points from the range point list based on a parameter indicative of a detour time needed by the ladar scanner to accommodate an interline detour.