Scanning Lidar Systems for Three-Dimensional Sensing
First Claim
1. A lidar system for three-dimensional imaging of an object, the lidar system comprising:
- a laser source configured to be translated through a plurality of emission locations in an emission plane, the laser source configured to emit a plurality of laser pulses, wherein each of the plurality of laser pulses is emitted at a respective one of the plurality of emission locations;
an emission lens configured to collimate and direct the plurality of laser pulses towards the object, wherein a portion of each of the plurality of laser pulses is reflected off of the object;
a receiving lens configured to receive and focus the portion of each of the plurality of laser pulses reflected off of the object to a plurality of corresponding detection locations in a detection plane, wherein each of the plurality of corresponding detection locations is conjugate with a respective one of the plurality of emission locations;
a photodetector configured to be translated through the plurality of corresponding detection locations in the detection plane and configured to receive and detect the portion of each of the plurality of laser pulses reflected off of the object; and
a processor coupled to the laser source and the photodetector, the processor configured to;
determine a time of flight for each of the plurality of laser pulses from emission to detection; and
construct a three-dimensional image of the object based on the determined time of flight for each of the plurality of laser pulses.
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Accused Products
Abstract
A lidar system includes a laser source, a photodetector, an emission lens, a receiving lens, and a processor. The laser source is configured to be translated through a plurality of emission locations, and to emit a plurality of laser pulses therefrom. The emission lens is configured to collimate and direct the plurality of laser pulses towards an object. The receiving lens is configured to focus the portion of each of the plurality of laser pulses reflected off of the object to a plurality of detection locations. The photodetector is configured to be translated through the plurality of detection locations, and to detect the portion of each of the plurality of laser pulses. The processor is configured to determine a time of flight for each of the plurality of laser pulses from emission to detection, and construct a three-dimensional image of the object based on the determined time of flight.
25 Citations
23 Claims
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1. A lidar system for three-dimensional imaging of an object, the lidar system comprising:
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a laser source configured to be translated through a plurality of emission locations in an emission plane, the laser source configured to emit a plurality of laser pulses, wherein each of the plurality of laser pulses is emitted at a respective one of the plurality of emission locations; an emission lens configured to collimate and direct the plurality of laser pulses towards the object, wherein a portion of each of the plurality of laser pulses is reflected off of the object; a receiving lens configured to receive and focus the portion of each of the plurality of laser pulses reflected off of the object to a plurality of corresponding detection locations in a detection plane, wherein each of the plurality of corresponding detection locations is conjugate with a respective one of the plurality of emission locations; a photodetector configured to be translated through the plurality of corresponding detection locations in the detection plane and configured to receive and detect the portion of each of the plurality of laser pulses reflected off of the object; and a processor coupled to the laser source and the photodetector, the processor configured to; determine a time of flight for each of the plurality of laser pulses from emission to detection; and construct a three-dimensional image of the object based on the determined time of flight for each of the plurality of laser pulses. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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12. A method of three-dimensional imaging, the method comprising:
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translating a laser source to each of a plurality of emission locations in an emission plane; emitting, using the laser source, a plurality of laser pulses, wherein each of the plurality of laser pulses is emitted at a respective one of the plurality of emission locations; collimating and directing, using an emission lens, the plurality of laser pulses towards an object, wherein a portion of each of the plurality of laser pulses is reflected off of the object; receiving and focusing, using a receiving lens, the portion of each of the plurality of laser pulses reflected off of the object to a plurality of corresponding detection locations in a detection plane, wherein each corresponding detection location is conjugate with a respective emission location; translating a photodetector to each of the plurality of corresponding detection locations in the detection plane; detecting, using the photodetector, the portion of each of the plurality of laser pulses at each of the plurality of detection locations; determining, using a processor, a time of flight for each of the plurality of laser pulses from emission to detection; and constructing a three-dimensional image of the object based on the determined time of flight for each of the plurality of laser pulses. - View Dependent Claims (13, 14, 15, 16, 17)
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18. A lidar system for three-dimensional imaging of an object, the lidar system comprising:
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a first laser source configured to be translated through a first plurality of emission locations in an emission plane, the first laser source configured to emit a first plurality of laser pulses at the first plurality of emission locations, respectively; a second laser source configured to be translated through a second plurality of emission locations in the emission plane, the second laser source configured to emit a second plurality of laser pulses at the second plurality of emission locations, respectively; an emission lens configured to collimate and direct the first plurality of laser pulses and the second plurality of laser pulses towards the object, wherein a portion of each of the first plurality of laser pulses and each of the second plurality of laser pulses is reflected off of the object; a receiving lens configured to receive and focus the portion of each of the first plurality of laser pulses and each of the second plurality of laser pulses reflected off of the object to a first plurality of corresponding detection locations and a second plurality of corresponding detection locations in a detection plane, wherein each of the first plurality of corresponding detection locations is conjugate with a respective one of the first plurality of emission locations, and each of the second plurality of corresponding detection locations is conjugate with a respective one of the second plurality of emission locations; a first photodetector configured to be translated through the first plurality of corresponding detection locations in the detection plane and operative to receive and detect the portion of each of the first plurality of laser pulses reflected off of the object; a second photodetector configured to be translated through the second plurality of corresponding detection locations in the detection plane and operative to receive and detect the portion of each of the second plurality of laser pulses reflected off of the object; and a processor coupled to the first laser source, the second laser source, the first photodetector, and the second photodetector, the processor configured to; determine a time of flight for each of the first plurality of laser pulses and each of the second plurality of laser pulses from emission to detection; and construct a three-dimensional image of the object based on the determined time of flight for each of the first plurality of laser pulses and each of the second plurality of laser pulses. - View Dependent Claims (19, 20, 21, 22, 23)
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Specification