LIDAR Based 3-D Imaging With Varying Pulse Repetition

• US 20170269209A1
• Filed: 03/20/2017
• Published: 09/21/2017
• Est. Priority Date: 03/21/2016
• Status: Active Grant

• Current Assignee: Velodyne Lidar USA, Inc. (Ouster, Inc.)
• Original Assignee: Velodyne LiDAR, Inc. (Ouster, Inc.)
• Inventors: Hall, David S., Kerstens, Pieter J., Cui, Yupeng, Rekow, Mathew Noel, Nestinger, Stephen S.
• Granted Patent: US 10,048,374 B2
• Time in Patent Office: Days
• 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 17/89 for mapping or imaging
• CPC Class Codes: G01S 7/4815 using multiple transmitters
• CPC Class Codes: G01S 7/4865 Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak peak detection in noise, signal conditioning G01S7/487
• CPC Class Codes: H04N 13/254 in combination with electromagnetic radiation sources for illuminating objects

Abstract

Methods and systems for performing three dimensional LIDAR measurements with different pulse repetition patterns are described herein. Each repetitive pattern is a sequence of measurement pulses that repeat over time. In one aspect, the repetition pattern of a pulsed beam of illumination light emitted from a LIDAR system is varied to reduce total energy consumption and heat generated by the LIDAR system. In some examples, the repetitive pattern is varied by skipping a number of pulses. In some examples, the repetitive pattern of pulses of illumination light emitted from the LIDAR system is varied by changing a repetition rate of the sequence of emitted pulses. In some examples, the pulse repetition pattern is varied based on the orientation of the LIDAR device. In some examples, the repetition pattern is varied based on an object detected by the LIDAR device or another imaging system.

Claims

1. A light detection and ranging (LIDAR) device, comprising:

a pulsed illumination source emitting a sequence of pulses of illumination light having a first repetition pattern from the LIDAR device into a three dimensional environment;

a photosensitive detector that detects an amount of light reflected from the three dimensional environment illuminated by each of the pulses of illumination light and generates an output signal indicative of the detected amount of light associated with each of the pulses of illumination light; and

a computing system configured to;

receive the output signal indicative of the detected amount of light;

determine a distance between the LIDAR device and an object in the three dimensional environment based on a difference between a time when a pulse is emitted from the LIDAR device and a time when the photosensitive detector detects an amount of light reflected from the object illuminated by the pulse of illumination light; and

generate a command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to a second repetition pattern that is different from the first repetition pattern.

2. The LIDAR device of claim 1, wherein one or more of the sequence of pulses of the second repetition pattern is zero valued.

3. The LIDAR device of claim 2, wherein a location of the one or more zero valued pulses in the second repetition pattern is pseudorandom.

4. The LIDAR device of claim 2, wherein the one or more zero valued pulses in the second repetition pattern are located every Nth pulse, wherein N is an integer number.

5. The LIDAR device of claim 2, wherein the one or more zero valued pulses are located at every pulse except every Nth pulse, wherein N is an integer number.

6. The LIDAR device of claim 1, wherein a repetition rate of the sequence of pulses of the second repetition pattern is different from a repetition rate of the sequence of pulses of the first repetition pattern.

7. The LIDAR device of claim 1, wherein the pulsed illumination source and the photosensitive detector are mounted to a rotating frame of the LIDAR device that rotates with respect to a base frame of the LIDAR device, and wherein the LIDAR device also includes:

an orientation sensor configured to detect an orientation of the rotating frame with respect to the base frame, and wherein the generating of the command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to the second repetition pattern is based on the orientation.

8. The LIDAR device of claim 1, wherein the generating of the command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to the second repetition pattern is based on the distance between the LIDAR device and the object in the three dimensional environment.

9. The LIDAR device of claim 8, wherein the second repetition pattern includes fewer pulses for a given period of time than the first repetition pattern when the distance between the LIDAR device and the object in the three dimensional environment is less than a predetermined threshold value.

10. The LIDAR device of claim 8, wherein the second repetition pattern includes fewer pulses for a given period of time than the first repetition pattern when the output signal is a negligible value for a first period of time.

11. The LIDAR device of claim 10, wherein the computing system is further configured to generate a second command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to a third repetition pattern that is different from the second repetition pattern when the output signal is a non-negligible value for a second period of time immediately after the first period of time, wherein the third repetition pattern includes more pulses for a given period of time than the second repetition pattern.

12. The LIDAR device of claim 1, further comprising:

an imaging device configured to generate an image of at least a portion of a field of view of the pulsed illumination source, wherein the second repetition pattern includes fewer pulses for a given period of time than the first repetition pattern when there is no object detected in the image of the field of view of the pulsed illumination source, and wherein the second repetition pattern includes more pulses for a given period of time than the first repetition pattern when there is an object detected in the image of the field of view of the pulsed illumination source.

13. The LIDAR device of claim 12, wherein the imaging device is a camera that is communicately coupled to the LIDAR device.

14. The LIDAR device of claim 12, wherein the imaging device is an imaging module communicatively coupled to the LIDAR device, wherein the imaging module generates the image of the portion of the surrounding three dimensional environment based on a plurality of distance measurements generated by the LIDAR device.

15. A light detection and ranging (LIDAR) device, comprising:

a pulsed illumination source emitting a sequence of pulses of illumination light having a first repetition pattern from the LIDAR device into a three dimensional environment;

a photosensitive detector that detects an amount of light reflected from the three dimensional environment illuminated by each of the pulses of illumination light and generates an output signal indicative of the detected amount of light associated with each of the pulses of illumination light; and

a non-transient computer-readable medium comprising computer-readable instructions that when read by a computing system cause the computing system to;

receive the output signal indicative of the detected amount of light;

determine a distance between the LIDAR device and an object in the three dimensional environment based on a difference between a time when a pulse is emitted from the LIDAR device and a time when the photosensitive detector detects an amount of light reflected from the object illuminated by the pulse of illumination light; and

generate a command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to a second repetition pattern that is different from the first repetition pattern.

16. The LIDAR device of claim 15, wherein one or more of the sequence of pulses of the second repetition pattern is zero valued.

17. The LIDAR device of claim 15, wherein the pulsed illumination source and the photosensitive detector are mounted to a rotating frame of the LIDAR device that rotates with respect to a base frame of the LIDAR device, and wherein the LIDAR device also includes:

an orientation sensor configured to detect an orientation of the rotating frame with respect to the base frame, and wherein the generating of the command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to the second repetition pattern is based on the orientation.

18. The LIDAR device of claim 15, wherein the generating of the command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to the second repetition pattern is based on the distance between the LIDAR device and the object in the three dimensional environment.

19. A method comprising:

emitting a sequence of pulses of illumination light having a first repetition pattern from a LIDAR device into a three dimensional environment;

detecting an amount of light reflected from the three dimensional environment illuminated by each of the pulses of illumination light;

generating an output signal indicative of the detected amount of light associated with each of the pulses of illumination light;

receiving the output signal indicative of the detected amount of light;

determining a distance between the LIDAR device and an object in the three dimensional environment based on a difference between a time when a pulse is emitted from the LIDAR device and a time when the photosensitive detector detects an amount of light reflected from the object illuminated by the pulse of illumination light; and

generating a command signal that causes the pulsed illumination source to change the sequence of pulses of illumination light to a second repetition pattern that is different from the first repetition pattern.

20. The method of claim 19, further comprising:

imaging at least a portion of a field of view of the pulsed illumination source, wherein the second repetition pattern includes fewer pulses for a given period of time than the first repetition pattern when there is no object detected in the image of the field of view of the pulsed illumination source, and wherein the second repetition pattern includes more pulses for a given period of time than the first repetition pattern when there is an object detected in the image of the field of view of the pulsed illumination source.