Jason Eichenholz

A system includes a first lidar sensor and a second lidar sensor, where each lidar sensor includes a scanner configured to direct a set of pulses of light along a scan pattern and a receiver configured to detect scattered light from the set of light pulses. The scan patterns are at least partially overlapped in an overlap region. The system further includes an enclosure, where the first lidar sensor and the second lidar sensor are contained within the enclosure. Each scanner includes one or… Show more

A system includes a first lidar sensor and a second lidar sensor, where each lidar sensor includes a scanner configured to direct a set of pulses of light along a scan pattern and a receiver configured to detect scattered light from the set of light pulses. The scan patterns are at least partially overlapped in an overlap region. The system further includes an enclosure, where the first lidar sensor and the second lidar sensor are contained within the enclosure. Each scanner includes one or more mirrors, and each mirror is driven by a scan mechanism. Show less

A machine vision system comprises a camera configured to generate one or more images of a field of regard of the camera, a lidar system, and a processor. The lidar system includes a laser configured to emit light, where the emitted light is directed toward a region within the field of regard of the camera and a receiver configured to detect light returned from the emitted light. The processor is configured to receive an indication of a location based on the returned light and determine, based… Show more

A machine vision system comprises a camera configured to generate one or more images of a field of regard of the camera, a lidar system, and a processor. The lidar system includes a laser configured to emit light, where the emitted light is directed toward a region within the field of regard of the camera and a receiver configured to detect light returned from the emitted light. The processor is configured to receive an indication of a location based on the returned light and determine, based on the one or more images generated by the camera, whether the indication of the location is associated with a spurious return. Show less

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… Show more

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. Show less

In one embodiment, a lidar system includes a light source configured to emit multiple optical signals directed into a field of regard of the lidar system. The optical signals include a first optical signal and a second optical signal, where the second optical signal is emitted a particular time interval after the first optical signal is emitted. The lidar system also includes a receiver configured to detect a received optical signal that includes a portion of the emitted first or second optical… Show more

In one embodiment, a lidar system includes a light source configured to emit multiple optical signals directed into a field of regard of the lidar system. The optical signals include a first optical signal and a second optical signal, where the second optical signal is emitted a particular time interval after the first optical signal is emitted. The lidar system also includes a receiver configured to detect a received optical signal that includes a portion of the emitted first or second optical signal that is scattered by a target located a distance from the lidar system. The received optical signal is detected after the second optical signal is emitted. The receiver includes a first detector configured to detect a first portion of the received optical signal and a second detector configured to detect a second portion of the received optical signal. Show less

In one embodiment, a lidar system includes a light source configured to emit (i) local-oscillator light and (ii) pulses of light, where each emitted pulse of light is coherent with a corresponding portion of the local-oscillator light. The light source includes a seed laser configured to produce seed light and the local-oscillator light. The light source also includes a pulsed optical amplifier configured to amplify temporal portions of the seed light to produce the emitted pulses of light… Show more

In one embodiment, a lidar system includes a light source configured to emit (i) local-oscillator light and (ii) pulses of light, where each emitted pulse of light is coherent with a corresponding portion of the local-oscillator light. The light source includes a seed laser configured to produce seed light and the local-oscillator light. The light source also includes a pulsed optical amplifier configured to amplify temporal portions of the seed light to produce the emitted pulses of light, where each amplified temporal portion of the seed light corresponds to one of the emitted 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 light from one of the emitted pulses of light that is scattered by a target located a distance from the lidar system. Show less

In one embodiment, a lidar system includes a light source configured to emit local-oscillator light and pulses of light, where each emitted pulse of light is (i) coherent with a corresponding portion of the local-oscillator light and (ii) includes a spectral signature of one or more different spectral signatures. 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 light from one of the… Show more

In one embodiment, a lidar system includes a light source configured to emit local-oscillator light and pulses of light, where each emitted pulse of light is (i) coherent with a corresponding portion of the local-oscillator light and (ii) includes a spectral signature of one or more different spectral signatures. 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 light from one of the emitted pulses of light scattered by a target located a distance from the lidar system, the one of the emitted pulses of light including a particular spectral signature of the one or more spectral signatures. The local-oscillator light and the received pulse of light are coherently mixed together at the receiver. The receiver includes one or more detectors and a frequency-detection circuit. Show less

A lidar system identifies anomalous optical pulses received by the lidar system. The lidar system includes a light source configured to output a plurality of transmitted pulses of light, each transmitted pulse of light having one or more representative characteristics, a scanner configured to direct the plurality of transmitted pulses of light to a plurality of locations within a field of regard, and a receiver configured to detect a plurality of received pulses of light from the field of… Show more

A lidar system identifies anomalous optical pulses received by the lidar system. The lidar system includes a light source configured to output a plurality of transmitted pulses of light, each transmitted pulse of light having one or more representative characteristics, a scanner configured to direct the plurality of transmitted pulses of light to a plurality of locations within a field of regard, and a receiver configured to detect a plurality of received pulses of light from the field of regard. The lidar system is configured to identify an anomalous pulse amongst the plurality of received pulses of light based on its having at least one characteristic that does not correspond to the one or more representative characteristics of the plurality of transmitted pulses of light. Show less

In one embodiment, a lidar system includes a light source configured to emit a pulse of light and a scanner configured to direct the emitted pulse of light into a field of regard of the lidar system. The lidar system also includes a receiver configured to receive a portion of the emitted pulse of light scattered by a target located a distance from the lidar system. The receiver includes a digital micromirror device (DMD) that includes a two-dimensional array of electrically addressable… Show more

In one embodiment, a lidar system includes a light source configured to emit a pulse of light and a scanner configured to direct the emitted pulse of light into a field of regard of the lidar system. The lidar system also includes a receiver configured to receive a portion of the emitted pulse of light scattered by a target located a distance from the lidar system. The receiver includes a digital micromirror device (DMD) that includes a two-dimensional array of electrically addressable micromirrors, where a portion of the micromirrors are configured to be set to an active-on state to direct the received pulse of light to a detector array. The detector array includes a two-dimensional array of detector elements, where the detector array is configured to detect the received pulse of light and produce an electrical signal corresponding to the received pulse of light. Show less

In one embodiment, a lidar system includes a light source configured to emit an optical signal that is directed into a field of regard (FOR) of the lidar system. The lidar system also includes a receiver configured to: receive a portion of the emitted optical signal scattered by a target located in the FOR a distance from the lidar system; and produce an electrical signal corresponding to the received optical signal, where the electrical signal is related to a preliminary value of an optical… Show more

In one embodiment, a lidar system includes a light source configured to emit an optical signal that is directed into a field of regard (FOR) of the lidar system. The lidar system also includes a receiver configured to: receive a portion of the emitted optical signal scattered by a target located in the FOR a distance from the lidar system; and produce an electrical signal corresponding to the received optical signal, where the electrical signal is related to a preliminary value of an optical characteristic of the received optical signal. The lidar system further includes a processor coupled to the receiver and configured to: determine the distance to the target; receive a humidity value; and determine a corrected value of the optical characteristic of the received optical signal based at least in part on the electrical signal produced by the receiver, the distance to the target, and the humidity value. Show less

In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard. The field of regard contains all or part of a target located a distance from the lidar system that is less than or equal to a maximum range of the lidar system, and one or more of the emitted pulses of light are scattered by the target. The lidar system also includes a receiver configured to… Show more

In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard. The field of regard contains all or part of a target located a distance from the lidar system that is less than or equal to a maximum range of the lidar system, and one or more of the emitted pulses of light are scattered by the target. The lidar system also includes a receiver configured to detect at least a portion of the pulses of light scattered by the target. The lidar system further includes a processor configured to determine the distance from the lidar system to the target based at least in part on a round-trip time of flight for an emitted pulse of light. Show less

To compensate for the uneven distribution of data points around the periphery of a vehicle in a lidar system, a light source transmits light pulses at a variable pulse rate according to the orientation of the light pulses with respect to the lidar system. A controller may communicate with a scanner in the lidar system that provides the orientations of the light pulses to the controller. The controller may then provide a control signal to the light source adjusting the pulse rate based on the… Show more

To compensate for the uneven distribution of data points around the periphery of a vehicle in a lidar system, a light source transmits light pulses at a variable pulse rate according to the orientation of the light pulses with respect to the lidar system. A controller may communicate with a scanner in the lidar system that provides the orientations of the light pulses to the controller. The controller may then provide a control signal to the light source adjusting the pulse rate based on the orientations of the light pulses. For example, the pulse rate may be slower near the front of the lidar system and faster near the periphery. In another example, the pulse rate may be faster near the front of the lidar system and slower near the periphery. Show less

A lidar system includes a light source, a scanner, and a receiver and is configured to detect remote targets located up to RMAX meters away. The receiver includes a detector with a field of view larger than the light-source field of view. The scanner causes the detector field of view to move relative to the instantaneous light-source field of view along the scan direction, so that (i) when a pulse of light is emitted, the instantaneous light-source field of view is approximately centered within… Show more

A lidar system includes a light source, a scanner, and a receiver and is configured to detect remote targets located up to RMAX meters away. The receiver includes a detector with a field of view larger than the light-source field of view. The scanner causes the detector field of view to move relative to the instantaneous light-source field of view along the scan direction, so that (i) when a pulse of light is emitted, the instantaneous light-source field of view is approximately centered within the detector field of view, and (ii) when a scattered pulse of light returns from a target located RMAX meters away, the instantaneous light-source field of view is located near an edge of the field of view of the detector and is contained within the field of view of the detector. Show less

In one embodiment, a lidar system includes a light source configured to emit light at one or more wavelengths between 1200 nm and 1400 nm. The lidar system also includes a scanner configured to scan the emitted light across a field of regard of the lidar system and a receiver configured to detect a portion of the emitted light scattered by a target located a distance from the lidar system. The lidar system further includes a processor configured to determine the distance from the lidar system… Show more

In one embodiment, a lidar system includes a light source configured to emit light at one or more wavelengths between 1200 nm and 1400 nm. The lidar system also includes a scanner configured to scan the emitted light across a field of regard of the lidar system and a receiver configured to detect a portion of the emitted light scattered by a target located a distance from the lidar system. The lidar system further includes a processor configured to determine the distance from the lidar system to the target based at least in part on a round-trip time for the portion of the emitted light to travel from the lidar system to the target and back to the lidar system. Show less

In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light along a scan pattern contained within an adjustable field of regard. The scanner includes a first scanning mirror configured to scan the portion of the emitted pulses of light substantially parallel to a first scan axis to produce multiple scan lines of the scan pattern, where each scan line is oriented substantially… Show more

In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light along a scan pattern contained within an adjustable field of regard. The scanner includes a first scanning mirror configured to scan the portion of the emitted pulses of light substantially parallel to a first scan axis to produce multiple scan lines of the scan pattern, where each scan line is oriented substantially parallel to the first scan axis. The scanner also includes a second scanning mirror configured to distribute the scan lines along a second scan axis that is substantially orthogonal to the first scan axis, where the scan lines are distributed within the adjustable field of regard according to an adjustable second-axis scan profile. Show less

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 provided by the light pulse. Triggering events may include exceeding a threshold speed, being within a threshold distance of a person or other object, an atmospheric condition, etc. In some scenarios, the power is adjusted to address eye-safety concerns.

A system operating in a vehicle includes a lidar module, a camera, and a controller communicatively coupled to the camera and the lidar module. The lidar module includes: a light source configured to emit pulses of light, a scanner configured to direct the emitted pulses of light in accordance with a scan pattern to illuminate a field of regard of the lidar module, and a receiver configured to detect the emitted pulses of light scattered by one or more remote objects to capture a set of lidar… Show more

A system operating in a vehicle includes a lidar module, a camera, and a controller communicatively coupled to the camera and the lidar module. The lidar module includes: a light source configured to emit pulses of light, a scanner configured to direct the emitted pulses of light in accordance with a scan pattern to illuminate a field of regard of the lidar module, and a receiver configured to detect the emitted pulses of light scattered by one or more remote objects to capture a set of lidar pixels of a scan frame, in a sequence defined by the scan pattern. The camera has a field of view that at least partially overlaps the field of regard of the lidar module. The controller is configured to cause the camera to capture multiple images while the receiver of the lidar module captures the set of lidar pixels of the scan frame. Show less

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 along a high-resolution scan pattern located within a field of regard of the lidar system. The scanner includes one or more scan mirrors configured to (i) scan the emitted pulses of light along a first scan axis to produce multiple scan lines of the high-resolution scan pattern, where each scan line is associated with multiple pixels, each… Show more

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 along a high-resolution scan pattern located within a field of regard of the lidar system. The scanner includes one or more scan mirrors configured to (i) scan the emitted pulses of light along a first scan axis to produce multiple scan lines of the high-resolution scan pattern, where each scan line is associated with multiple pixels, each pixel corresponding to one of the emitted pulses of light and (ii) distribute the scan lines of the high-resolution scan pattern along a second scan axis. The high-resolution scan pattern includes one or more of: interlaced scan lines and interlaced pixels. Show less

A light-based detection system includes a light source configured to emit light as a series of one or more light pulses, a transmitter configured to direct the one or more light pulses toward a remote target located a distance from the system, a receiver configured to detect a light pulse scattered by the remote target, and a controller. The pulses are at a wavelength between approximately 1400 nanometers and approximately 1600 nanometers, with pulse duration between 10 picoseconds and 20… Show more

A light-based detection system includes a light source configured to emit light as a series of one or more light pulses, a transmitter configured to direct the one or more light pulses toward a remote target located a distance from the system, a receiver configured to detect a light pulse scattered by the remote target, and a controller. The pulses are at a wavelength between approximately 1400 nanometers and approximately 1600 nanometers, with pulse duration between 10 picoseconds and 20 nanoseconds and a pulse energy less than 2 microjoules. The controller is configured to determine the distance from the system to the target based on a time of flight for the detected light pulse, detect a fault condition indicating that the distance to the target is less than a threshold distance, and shut down the light source in response to detecting the fault condition. Show less

In one embodiment, a lidar system includes a light source configured to emit an optical signal and a receiver that includes one or more detectors configured to detect a portion of the emitted optical signal scattered by a target located a distance from the lidar system. The lidar system also includes a photonic integrated circuit (PIC) that includes an input optical element configured to receive the portion of the scattered optical signal and couple the portion of the scattered optical signal… Show more

In one embodiment, a lidar system includes a light source configured to emit an optical signal and a receiver that includes one or more detectors configured to detect a portion of the emitted optical signal scattered by a target located a distance from the lidar system. The lidar system also includes a photonic integrated circuit (PIC) that includes an input optical element configured to receive the portion of the scattered optical signal and couple the portion of the scattered optical signal into an input optical waveguide. The input optical waveguide is one of one or more optical waveguides of the PIC configured to convey the portion of the scattered optical signal to the one or more detectors of the receiver. The lidar system further includes a processor configured to determine the distance from the lidar system to the target. Show less

A lidar system comprising with a light source, an optical link, and a sensor head. The light source can include a seed laser to produce pulses of light and an optical preamplifier to amplify the pulses of light. The optical link can convey amplified pulses of light to the sensor head remotely located from the light source. The sensor head can include an optical booster amplifier, a scanner to scan amplified output pulses of light across a field of regard, and a receiver to detect pulses of… Show more

A lidar system comprising with a light source, an optical link, and a sensor head. The light source can include a seed laser to produce pulses of light and an optical preamplifier to amplify the pulses of light. The optical link can convey amplified pulses of light to the sensor head remotely located from the light source. The sensor head can include an optical booster amplifier, a scanner to scan amplified output pulses of light across a field of regard, and a receiver to detect pulses of light scattered by a target located a distance from the sensor head. Show less

A lidar system operating in a vehicle comprising a first eye configured to scan a first field of regard and a second eye configured to scan a second field of regard. Each of the first eye and the second eye includes a respective optical element configured to output a beam of light, a respective scan mirror configured to scan the beam of light along a vertical dimension of the respective field of regard, and a respective receiver configured to detect scattered light from the beam of light. The… Show more

A lidar system operating in a vehicle comprising a first eye configured to scan a first field of regard and a second eye configured to scan a second field of regard. Each of the first eye and the second eye includes a respective optical element configured to output a beam of light, a respective scan mirror configured to scan the beam of light along a vertical dimension of the respective field of regard, and a respective receiver configured to detect scattered light from the beam of light. The field of regard of the lidar system includes the first field of regard and the second field of regard, combined along a horizontal dimension of the first field of regard and the second field of regard. Show less

A lidar system includes one or more light sources configured to emit light pulses, a scanner configured to direct the emitted light pulses as beams along one or more scan directions to illuminate, for each orientation of the scanner with each of the plurality of beams, a respective light-source field of view corresponding to a respective pixel, and a receiver configured to detect the light pulses scattered by one or more remote targets. The receiver includes a first, second, and third detectors… Show more

A lidar system includes one or more light sources configured to emit light pulses, a scanner configured to direct the emitted light pulses as beams along one or more scan directions to illuminate, for each orientation of the scanner with each of the plurality of beams, a respective light-source field of view corresponding to a respective pixel, and a receiver configured to detect the light pulses scattered by one or more remote targets. The receiver includes a first, second, and third detectors to detect light pulses associated with respective beams. Each detector has a separate detector field of view within which the detector receives scattered light. A spatial separation between the first detector and the second detector is greater than a spatial separation between the second detector and the third detector. Show less

A lidar system comprises a light source configured to emit pulses of light, a scanner configured to direct the pulses of light along a scan direction, where each of the pulses of light illuminates a respective field of view of the light source, and a receiver configured to detect the pulses of light scattered by remote targets. The receiver includes a low-gain detector associated with a low gain and a high-gain detector associated with a high gain. The low-gain detector is positioned so that a… Show more

A lidar system comprises a light source configured to emit pulses of light, a scanner configured to direct the pulses of light along a scan direction, where each of the pulses of light illuminates a respective field of view of the light source, and a receiver configured to detect the pulses of light scattered by remote targets. The receiver includes a low-gain detector associated with a low gain and a high-gain detector associated with a high gain. The low-gain detector is positioned so that a first scattered pulse of light that returns from a first target, located closer to the receiver than a second target, is detected primarily by the low-gain detector, and a second scattered pulse of light that returns from the second target is detected primarily by the high-gain detector. Show less

In one embodiment, a lidar system includes a light source configured to emit an optical signal. The light source includes a seed laser diode configured to produce a seed optical signal and a semiconductor optical amplifier (SOA) configured to amplify the seed optical signal to produce an amplified seed optical signal, where the emitted optical signal includes the amplified seed optical signal. The lidar system also includes a scanner configured to direct the emitted optical signal into a field… Show more

In one embodiment, a lidar system includes a light source configured to emit an optical signal. The light source includes a seed laser diode configured to produce a seed optical signal and a semiconductor optical amplifier (SOA) configured to amplify the seed optical signal to produce an amplified seed optical signal, where the emitted optical signal includes the amplified seed optical signal. The lidar system also includes a scanner configured to direct the emitted optical signal into a field of regard of the lidar system and a receiver configured to detect a portion of the emitted optical signal scattered by a target located a distance from the lidar system. The lidar system further includes a processor configured to determine the distance from the lidar system to the target. Show less

In one embodiment, a lidar system includes a light source configured to emit (i) local-oscillator light and (ii) pulses of light, where each emitted pulse of light is coherent with a corresponding portion of the local-oscillator 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 comprising light from one of the emitted pulses of light that is scattered by a target located a distance from the… Show more

In one embodiment, a lidar system includes a light source configured to emit (i) local-oscillator light and (ii) pulses of light, where each emitted pulse of light is coherent with a corresponding portion of the local-oscillator 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 comprising light from one of the emitted pulses of light that is scattered by a target located a distance from the lidar system. The local-oscillator light and the received pulse of light are coherently mixed together at the receiver. The receiver includes one or more detectors configured to produce one or more respective photocurrent signals corresponding to the coherent mixing of the local-oscillator light and the received pulse of light. The receiver also includes a pulse-detection circuit configured to determine a time-of-arrival for the received pulse of light.
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In one embodiment, a laser system includes a seed laser diode configured to produce a free-space seed-laser beam and a seed-laser focusing lens configured to focus the seed-laser beam. The laser system also includes a semiconductor optical amplifier (SOA) that includes a front facet, a back facet, and a waveguide extending from the front facet to the back facet. The SOA is configured to: receive, at the front facet, light from the focused seed-laser beam; amplify the received light as the… Show more

In one embodiment, a laser system includes a seed laser diode configured to produce a free-space seed-laser beam and a seed-laser focusing lens configured to focus the seed-laser beam. The laser system also includes a semiconductor optical amplifier (SOA) that includes a front facet, a back facet, and a waveguide extending from the front facet to the back facet. The SOA is configured to: receive, at the front facet, light from the focused seed-laser beam; amplify the received light as the received light propagates along the SOA waveguide from the front facet to the back facet; and emit, from the back facet, an amplified free-space beam that includes the amplified received light. The laser system further includes a mounting platform, where one or more of the seed laser diode, the seed-laser focusing lens, and the SOA are mechanically attached to the mounting platform. Show less

Surgical projection system and method
Systems and methods for guiding a surgical procedure based on a surgical procedure plan may include an image capture device that captures one or more images of an exposed anatomical feature of a patient. These systems and methods may also include a computing device configured to receive a surgical procedure plan based on one or more desired attributes related to an anatomical 3D model representing the exposed anatomical feature of the patient. The… Show more

Surgical projection system and method
Systems and methods for guiding a surgical procedure based on a surgical procedure plan may include an image capture device that captures one or more images of an exposed anatomical feature of a patient. These systems and methods may also include a computing device configured to receive a surgical procedure plan based on one or more desired attributes related to an anatomical 3D model representing the exposed anatomical feature of the patient. The computing device may register the anatomical 3D model to the exposed anatomical feature of the patient based on the one or more images of the exposed anatomical feature and a projector may further provide surgical guidance information to a surgeon based on the surgical procedure plan to facilitate performance of the surgical procedure. Show less

A system includes a lidar, a camera, and a controller communicatively coupled to the camera and the lidar. The lidar includes a laser configured to emit pulses of light, a scanner configured to direct the emitted pulses in accordance with a scan pattern, and a receiver configured to detect the emitted pulse of light scattered by one or more remote targets to collect a set of lidar pixels of a scan frame, in a sequence defined by the scan pattern. The camera has a field of regard that at least… Show more

A system includes a lidar, a camera, and a controller communicatively coupled to the camera and the lidar. The lidar includes a laser configured to emit pulses of light, a scanner configured to direct the emitted pulses in accordance with a scan pattern, and a receiver configured to detect the emitted pulse of light scattered by one or more remote targets to collect a set of lidar pixels of a scan frame, in a sequence defined by the scan pattern. The camera has a field of regard that at least partially overlaps the field of regard of the lidar. The controller is configured to cause the camera to capture images while the receiver of the lidar module collects the complete set of lidar pixels of the scan frame, and align lidar pixels with corresponding pixels in the captured images.
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A lidar system includes a light source, a scanner, and a receiver and is configured to detect remote targets located up to R.sub.MAX meters away. The receiver includes a detector with a field of view larger than the light-source field of view. The scanner causes the detector field of view to move relative to the instantaneous light-source field of view along the scan direction, so that (i) when a pulse of light is emitted, the instantaneous light-source field of view is approximately centered… Show more

A lidar system includes a light source, a scanner, and a receiver and is configured to detect remote targets located up to R.sub.MAX meters away. The receiver includes a detector with a field of view larger than the light-source field of view. The scanner causes the detector field of view to move relative to the instantaneous light-source field of view along the scan direction, so that (i) when a pulse of light is emitted, the instantaneous light-source field of view is approximately centered within the detector field of view, and (ii) when a scattered pulse of light returns from a target located R.sub.MAX meters away, the instantaneous light-source field of view is located near an edge of the field of view of the detector and is contained within the field of view of the detector.
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A method in a lidar system for scanning a field of regard of the lidar system is provided. The method includes identifying, within the field of regard, a ground portion that overlaps a region of ground located ahead of the lidar system; causing a light source to emit pulses of light; scanning at least a portion of the emitted pulses of light along a scan pattern contained within the field of regard, including adjusting a scan parameter so that at least one of a resolution or a pulse energy for… Show more

A method in a lidar system for scanning a field of regard of the lidar system is provided. The method includes identifying, within the field of regard, a ground portion that overlaps a region of ground located ahead of the lidar system; causing a light source to emit pulses of light; scanning at least a portion of the emitted pulses of light along a scan pattern contained within the field of regard, including adjusting a scan parameter so that at least one of a resolution or a pulse energy for the ground portion of the field of regard is modified relative to another portion of the field of regard; and detecting at least a portion of the scanned pulses of light scattered by one or more remote targets. Show less

To decrease the likelihood of a false detection when detecting light from light pulses scattered by remote targets in a lidar system, a receiver in the lidar system includes a photodetector and a pulse-detection circuit having a gain circuit with a varying amount of gain over time. The gain circuit operates in a low-gain mode for a time period T1 beginning with time t.sub.0 when a light pulse is emitted to prevent the receiver from detecting return light pulses during the threshold time period… Show more

To decrease the likelihood of a false detection when detecting light from light pulses scattered by remote targets in a lidar system, a receiver in the lidar system includes a photodetector and a pulse-detection circuit having a gain circuit with a varying amount of gain over time. The gain circuit operates in a low-gain mode for a time period T1 beginning with time t.sub.0 when a light pulse is emitted to prevent the receiver from detecting return light pulses during the threshold time period T1. Upon expiration of the threshold time period T1, the gain circuit operates in a high-gain mode to begin detecting return light pulses until a subsequent light pulse is emitted. Show less

In one embodiment, a lidar system includes a light source configured to emit pulses of light. The lidar system also includes multiple optical links and multiple sensor heads. Each optical link couples the light source to a corresponding sensor head, and each optical link is configured to convey at least a portion of the emitted pulses of light from the light source to the corresponding sensor head. Each sensor head includes a scanner configured to scan pulses of light across a field of regard… Show more

In one embodiment, a lidar system includes a light source configured to emit pulses of light. The lidar system also includes multiple optical links and multiple sensor heads. Each optical link couples the light source to a corresponding sensor head, and each optical link is configured to convey at least a portion of the emitted pulses of light from the light source to the corresponding sensor head. Each sensor head includes a scanner configured to scan pulses of light across a field of regard of the sensor head, where the scanned pulses of light include the portion of the emitted pulses of light conveyed from the light source to the sensor head by the corresponding optical link. Each sensor head also includes a receiver configured to detect at least a portion of the scanned pulses of light scattered or reflected by a target located downrange from the sensor head. Show less

A machine vision system comprises a camera configured to generate one or more images of a field of regard of the camera, a lidar system, and a processor. The lidar system includes a laser configured to emit light, where the emitted light is directed toward a region within the field of regard of the camera and a receiver configured to detect light returned from the emitted light. The processor is configured to receive an indication of a location based on the returned light and determine whether… Show more

A machine vision system comprises a camera configured to generate one or more images of a field of regard of the camera, a lidar system, and a processor. The lidar system includes a laser configured to emit light, where the emitted light is directed toward a region within the field of regard of the camera and a receiver configured to detect light returned from the emitted light. The processor is configured to receive an indication of a location based on the returned light and determine whether a solid object is present at the location based on the one or more images. Show less

A lidar system comprises a light source configured to emit light, a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, a receiver configured to detect the light scattered by one or more remote targets, and a controller configured to control motion of at least the second mirror to modify the scan pattern. The scanner includes a rotatable polygon mirror having a block having a first wall, a second wall, and reflective… Show more

A lidar system comprises a light source configured to emit light, a scanner configured to direct the emitted light to scan a field of regard of the lidar system in accordance with a scan pattern, a receiver configured to detect the light scattered by one or more remote targets, and a controller configured to control motion of at least the second mirror to modify the scan pattern. The scanner includes a rotatable polygon mirror having a block having a first wall, a second wall, and reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block. The scanner also includes a polygon mirror axle extending into the block through at least one of the first and second walls, about which the block rotates, and a second mirror pivotable along an axis orthogonal to the polygon mirror axle. Show less

In one embodiment, a lidar system includes a light source configured to emit pulses of light and a scanner configured to scan at least a portion of the emitted pulses of light across a field of regard. The lidar system also includes a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system.

A lidar system with improved signal-to-noise ratio in the presence of solar background noise. The lidar system can comprise a light source to emit light toward a target. The light source can have an operating wavelength which lies within a band that delineates a relative maximum in atmospheric absorption. The lidar system can also include a detector to detect scattered light from the target and a processor to determine a characteristic of the target based on a characteristic of the scattered… Show more

A lidar system with improved signal-to-noise ratio in the presence of solar background noise. The lidar system can comprise a light source to emit light toward a target. The light source can have an operating wavelength which lies within a band that delineates a relative maximum in atmospheric absorption. The lidar system can also include a detector to detect scattered light from the target and a processor to determine a characteristic of the target based on a characteristic of the scattered light received at the detector. Show less

A lidar system includes a transmitter that encodes successive transmit pulses with different pulse characteristics and a receiver that detects the pulse characteristics of each received (scattered or reflected) pulse and that distinguishes between the received pulses based on the detected pulse characteristics. The lidar system thus resolves range ambiguities by encoding pulses of scan positions in the same or different scan periods to have different pulse characteristics, such as different… Show more

A lidar system includes a transmitter that encodes successive transmit pulses with different pulse characteristics and a receiver that detects the pulse characteristics of each received (scattered or reflected) pulse and that distinguishes between the received pulses based on the detected pulse characteristics. The lidar system thus resolves range ambiguities by encoding pulses of scan positions in the same or different scan periods to have different pulse characteristics, such as different pulse widths or different pulse envelope shapes. The receiver includes a pulse decoder configured to detect the relevant pulse characteristics of the received pulse and a resolver that determines if the pulse characteristics of the received pulse matches the pulse characteristics of the current scan position or that of a previous scan position.
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In one embodiment, a laser system includes a seed laser configured to produce optical seed pulses. The laser system also includes a first fiber-optic amplifier configured to amplify the seed pulses by a first amplifier gain to produce a first-amplifier output that includes amplified seed pulses and amplified spontaneous emission (ASE). The laser system further includes a first optical filter configured to remove from the first-amplifier output an amount of the ASE. The laser system also… Show more

In one embodiment, a laser system includes a seed laser configured to produce optical seed pulses. The laser system also includes a first fiber-optic amplifier configured to amplify the seed pulses by a first amplifier gain to produce a first-amplifier output that includes amplified seed pulses and amplified spontaneous emission (ASE). The laser system further includes a first optical filter configured to remove from the first-amplifier output an amount of the ASE. The laser system also includes a second fiber-optic amplifier configured to receive the amplified seed pulses from the first optical filter and amplify the received pulses by a second amplifier gain to produce output pulses. The output pulses have output-pulse characteristics that include: a pulse repetition frequency of less than or equal to 100 MHz; a pulse duration of less than or equal to 20 nanoseconds; and a duty cycle of less than or equal to 1%.
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A vehicle includes a body with multiple interior and exterior surfaces and a lidar system including a set of one or more sensor units. Each sensor unit includes a light source configured to emit light, a scanner configured to direct the emitted light to scan a field of regard of the sensor unit according to a scan pattern, a receiver configured to detect the light scattered by one or more remote targets, and a housing enclosing the light source, the scanner, and the receiver. The housing of… Show more

A vehicle includes a body with multiple interior and exterior surfaces and a lidar system including a set of one or more sensor units. Each sensor unit includes a light source configured to emit light, a scanner configured to direct the emitted light to scan a field of regard of the sensor unit according to a scan pattern, a receiver configured to detect the light scattered by one or more remote targets, and a housing enclosing the light source, the scanner, and the receiver. The housing of each sensor unit is embedded in one of the interior or exterior surfaces, so that a first portion of the housing projects out of the body and a second portion of the housing is inside the body.
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A lidar system can include a light source that emits a pulse of light and a splitter that splits the pulse of light into two or more pulses of angularly separated light. The lidar system can also include a scanner configured to scan pulses of light along a scanning direction across a plurality of pixels located downrange from the lidar system. The lidar system can also include a detector array with a first detector and a second detector. The first and second detectors can be separated by a… Show more

A lidar system can include a light source that emits a pulse of light and a splitter that splits the pulse of light into two or more pulses of angularly separated light. The lidar system can also include a scanner configured to scan pulses of light along a scanning direction across a plurality of pixels located downrange from the lidar system. The lidar system can also include a detector array with a first detector and a second detector. The first and second detectors can be separated by a detector-separation distance along a direction corresponding to the scanning direction of the light pulses. The first detector can be configured to detect scattered light from the first pulse of light and the second detector can be configured to detect scattered light from the second pulse of light.
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A lidar system can include a solid-state laser to emit pulses of light. The solid-state laser can include a Q-switched laser having a gain medium and a Q-switch. The lidar system can also include a scanner configured to scan the emitted pulses of light across a field of regard and a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system. The lidar system can also include a processor configured to determine… Show more

A lidar system can include a solid-state laser to emit pulses of light. The solid-state laser can include a Q-switched laser having a gain medium and a Q-switch. The lidar system can also include a scanner configured to scan the emitted pulses of light across a field of regard and a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system. The lidar system can also include a processor configured to determine the distance from the lidar system to the target based at least in part on a round-trip time of flight for an emitted pulse of light to travel from the lidar system to the target and back to the lidar system.
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A lidar system includes a light source configured to emit light, a scanner configured to scan a field of regard of the lidar system using (i) a first output beam that includes at least a portion of the emitted light and has a first amount of power and (ii) a second output beam that includes at least a portion of the emitted light and has a second amount of power different from the first amount of power, with an angular separation between the first output beam and the second output beam along a… Show more

A lidar system includes a light source configured to emit light, a scanner configured to scan a field of regard of the lidar system using (i) a first output beam that includes at least a portion of the emitted light and has a first amount of power and (ii) a second output beam that includes at least a portion of the emitted light and has a second amount of power different from the first amount of power, with an angular separation between the first output beam and the second output beam along a vertical dimension of the field of regard, and a receiver configured to detect light associated with the first output beam and light associated with the second output beam scattered by one or more remote targets.
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In one embodiment, a lidar system includes a light source configured to emit multiple optical signals directed into a field of regard of the lidar system. The optical signals include a first optical signal and a second optical signal, where the second optical signal is emitted a particular time interval after the first optical signal is emitted. The lidar system also includes a receiver configured to detect a received optical signal that includes a portion of the emitted first or second optical… Show more

In one embodiment, a lidar system includes a light source configured to emit multiple optical signals directed into a field of regard of the lidar system. The optical signals include a first optical signal and a second optical signal, where the second optical signal is emitted a particular time interval after the first optical signal is emitted. The lidar system also includes a receiver configured to detect a received optical signal that includes a portion of the emitted first or second optical signal that is scattered by a target located a distance from the lidar system. The received optical signal is detected after the second optical signal is emitted. The receiver includes a first detector configured to detect a first portion of the received optical signal and a second detector configured to detect a second portion of the received optical signal.
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A lidar system includes one or more light sources configured to generate a first and second beams of light, a scanner configured to synchronously scan a field of regard of the lidar system using the two beams, and a receiver configured to detect light of the two beams scattered by one or more remote targets. The scanner includes a rotatable polygon mirror having a block having a first wall, a second wall, and reflective surfaces extending between the first and second walls, the reflective… Show more

A lidar system includes one or more light sources configured to generate a first and second beams of light, a scanner configured to synchronously scan a field of regard of the lidar system using the two beams, and a receiver configured to detect light of the two beams scattered by one or more remote targets. The scanner includes a rotatable polygon mirror having a block having a first wall, a second wall, and reflective surfaces extending between the first and second walls, the reflective surfaces being angularly offset from one another along a periphery of the block; a polygon mirror axle extending into the block, about which the block rotates; optical elements configured to direct the first and second beams of light respectively to two adjacent reflective surfaces of the rotatable polygon mirror; and a second mirror pivotable along an axis orthogonal to the polygon mirror axle.
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A light source includes a laser configured to emit a ranging pulse including a sequence of fast pulses. A lidar system uses one or more properties of the sequence of fast pulses to determine a signature of the ranging pulse. A receiver includes a detector element configured to detect a light signal and a signature detection circuitry configured to determine whether the detected light signal corresponds to the signature of the emitted ranging pulse. The lidar system is configured to generate a… Show more

A light source includes a laser configured to emit a ranging pulse including a sequence of fast pulses. A lidar system uses one or more properties of the sequence of fast pulses to determine a signature of the ranging pulse. A receiver includes a detector element configured to detect a light signal and a signature detection circuitry configured to determine whether the detected light signal corresponds to the signature of the emitted ranging pulse. The lidar system is configured to generate a pixel value based on the detected light signal if the detected light signal corresponds to the signature of the emitted ranging pulse.
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To compensate for the uneven distribution of data points around the periphery of a vehicle in a lidar system, a light source transmits light pulses at a variable pulse rate according to the orientation of the light pulses with respect to the lidar system. A controller may communicate with a scanner in the lidar system that provides the orientations of the light pulses to the controller. The controller may then provide a control signal to the light source adjusting the pulse rate based on the… Show more

To compensate for the uneven distribution of data points around the periphery of a vehicle in a lidar system, a light source transmits light pulses at a variable pulse rate according to the orientation of the light pulses with respect to the lidar system. A controller may communicate with a scanner in the lidar system that provides the orientations of the light pulses to the controller. The controller may then provide a control signal to the light source adjusting the pulse rate based on the orientations of the light pulses. For example, the pulse rate may be slower near the front of the lidar system and faster near the periphery. In another example, the pulse rate may be faster near the front of the lidar system and slower near the periphery. Show less

A scanning system includes a light source configured to emit light as a series of one or more light pulses, a scanner configured to direct the one or more light pulses towards a remote target, and a receiver configured to detect light scattered by the remote target. The receiver includes a light detector element disposed on an ASIC that includes multiple comparators disposed in parallel with one another, and corresponding time-to-digital converters (TDCs) coupled to the comparator. Each of the… Show more

A scanning system includes a light source configured to emit light as a series of one or more light pulses, a scanner configured to direct the one or more light pulses towards a remote target, and a receiver configured to detect light scattered by the remote target. The receiver includes a light detector element disposed on an ASIC that includes multiple comparators disposed in parallel with one another, and corresponding time-to-digital converters (TDCs) coupled to the comparator. Each of the comparators processes a received electrical signal from the light detector element to produce a digital edge signal when the amplitude of the received electrical signal reaches a particular threshold. A corresponding TDC outputs a time delay value associated with a time at which the received electrical signal reaches the particular threshold.
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A lidar system is disclosed. The lidar system can include a light source to produce first and second sets of pulses of light. The system can also include a first lidar sensor with a first scanner to scan the first set of pulses of light along a first scan pattern, and a first receiver to detect scattered light from the first set of pulses of light. The system can also include a second lidar sensor with a second scanner to scan the second set of pulses of light along a second scan pattern, and a… Show more

A lidar system is disclosed. The lidar system can include a light source to produce first and second sets of pulses of light. The system can also include a first lidar sensor with a first scanner to scan the first set of pulses of light along a first scan pattern, and a first receiver to detect scattered light from the first set of pulses of light. The system can also include a second lidar sensor with a second scanner to scan the second set of pulses of light along a second scan pattern, and a second receiver to detect scattered light from the second set of pulses of light. The first scan pattern and the second scan pattern can be at least partially overlapped in an overlap region. The lidar system can also include an enclosure to contain the light source, the first lidar sensor, and the second lidar sensor. Show less

To compensate for the effects of vibration on a lidar system in a vehicle, a vibration sensor within the lidar system and/or the vehicle detects vibration, such as a gyroscope, accelerometer, inertial measurement unit (IMU), etc. The detected vibration is then used to generate a compensation signal. The compensation signal is combined with a drive signal that drives a scanner configured to direct light pulses across a field of regard. The combined signal is provided to the scanner, and… Show more

To compensate for the effects of vibration on a lidar system in a vehicle, a vibration sensor within the lidar system and/or the vehicle detects vibration, such as a gyroscope, accelerometer, inertial measurement unit (IMU), etc. The detected vibration is then used to generate a compensation signal. The compensation signal is combined with a drive signal that drives a scanner configured to direct light pulses across a field of regard. The combined signal is provided to the scanner, and accordingly, the light pulses are accurately directed across the field of regard.

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To detect an atmospheric condition at the current location of a lidar system, a receiver in the lidar system detects a return light pulse scattered by a target and analyzes the characteristics of the return light pulse. The characteristics of the return light pulse include a rise time, a fall time, a duration, a peak power, an amount of energy, etc. When the rise time, fall time, and/or duration exceed respective thresholds, the lidar system detects the atmospheric condition such as fog, sleet,… Show more

To detect an atmospheric condition at the current location of a lidar system, a receiver in the lidar system detects a return light pulse scattered by a target and analyzes the characteristics of the return light pulse. The characteristics of the return light pulse include a rise time, a fall time, a duration, a peak power, an amount of energy, etc. When the rise time, fall time, and/or duration exceed respective thresholds, the lidar system detects the atmospheric condition such as fog, sleet, snow, rain, dust, smog, exhaust, or insects. In response to detecting the atmospheric condition, the lidar system adjusts the characteristics of subsequent pulses to compensate for attenuation or distortion of return light pulses due to the atmospheric condition. For example, the lidar system adjusts the peak power, pulse energy, pulse duration, inter-pulse-train spacing, number of pulses, or any other suitable characteristic.
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A method for calibrating lidar systems operating in vehicles includes detecting a triggering event, causing the lidar system to not emit light during a calibration period, determining an amount of noise measured by the lidar system during the calibration period, generating a noise level metric based on the amount of noise detected during the calibration period, and adjusting subsequent readings of the lidar system using the noise level metric. The adjusting includes measuring energy levels of… Show more

A method for calibrating lidar systems operating in vehicles includes detecting a triggering event, causing the lidar system to not emit light during a calibration period, determining an amount of noise measured by the lidar system during the calibration period, generating a noise level metric based on the amount of noise detected during the calibration period, and adjusting subsequent readings of the lidar system using the noise level metric. The adjusting includes measuring energy levels of return light pulses emitted from the lidar system and scattered by targets and offsetting the measured energy levels by the noise level metric. Show less

In one embodiment, a laser system includes a seed laser diode configured to produce a free-space seed-laser beam. The laser system also includes a pump laser diode configured to produce a free-space pump-laser beam. The laser system further includes an optical-beam combiner configured to combine the seed-laser and pump-laser beams into a combined free-space beam and a focusing lens configured to focus the combined beam. The laser system also includes an optical gain fiber that includes an input… Show more

In one embodiment, a laser system includes a seed laser diode configured to produce a free-space seed-laser beam. The laser system also includes a pump laser diode configured to produce a free-space pump-laser beam. The laser system further includes an optical-beam combiner configured to combine the seed-laser and pump-laser beams into a combined free-space beam and a focusing lens configured to focus the combined beam. The laser system also includes an optical gain fiber that includes an input end configured to receive the focused beam. The laser system also includes a mounting platform, where one or more of the optical-beam combiner, the focusing lens, and the input end of the gain fiber are mechanically attached to the platform.
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In one embodiment, an optical amplifier includes a first pump laser diode and a second pump laser diode. The first pump laser diode is configured to produce pump light that includes a first amount of optical power at a first wavelength, and the second pump laser diode is configured to produce pump light that includes a second amount of optical power at a second wavelength different from the first wavelength. The optical amplifier also includes an optical gain fiber configured to receive the… Show more

In one embodiment, an optical amplifier includes a first pump laser diode and a second pump laser diode. The first pump laser diode is configured to produce pump light that includes a first amount of optical power at a first wavelength, and the second pump laser diode is configured to produce pump light that includes a second amount of optical power at a second wavelength different from the first wavelength. The optical amplifier also includes an optical gain fiber configured to receive the pump light from the first and second pump laser diodes and provide optical gain for an optical signal propagating through the optical gain fiber. The optical amplifier further includes a controller configured to adjust the first amount of optical power produced by the first pump laser diode and the second amount of optical power produced by the second pump laser diode.
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To increase the effective pulse rate of a light source in a lidar system, a controller provides control signals to the light source to transmit a light pulse once the previous light pulse has been received. The controller may communicate with a receiver in the lidar system that detects received light signals. In response to detecting a received light signal, the receiver may provide an indication of the received light signal to the controller which may in turn provide a control signal to the… Show more

To increase the effective pulse rate of a light source in a lidar system, a controller provides control signals to the light source to transmit a light pulse once the previous light pulse has been received. The controller may communicate with a receiver in the lidar system that detects received light signals. In response to detecting a received light signal, the receiver may provide an indication of the received light signal to the controller which may in turn provide a control signal to the light source to transmit the next light pulse. The receiver may also provide characteristics of the received light signal to the controller, such as the peak power for the received light signal, the average power for the received light signal, the pulse duration of the received light signal, etc. Then the controller may analyze the characteristics to determine whether to transmit another light pulse. Show less

To decrease the likelihood of a false detection when detecting light from light pulses scattered by remote targets in a lidar system, a receiver in the lidar system includes a photodetector and a pulse-detection circuit having a gain circuit with a varying amount of gain over time. The gain circuit operates in a low-gain mode for a time period T1 beginning with time t.sub.0 when a light pulse is emitted to prevent the receiver from detecting return light pulses during the threshold time period… Show more

To decrease the likelihood of a false detection when detecting light from light pulses scattered by remote targets in a lidar system, a receiver in the lidar system includes a photodetector and a pulse-detection circuit having a gain circuit with a varying amount of gain over time. The gain circuit operates in a low-gain mode for a time period T1 beginning with time t.sub.0 when a light pulse is emitted to prevent the receiver from detecting return light pulses during the threshold time period T1. Upon expiration of the threshold time period T1, the gain circuit operates in a high-gain mode to begin detecting return light pulses until a subsequent light pulse is emitted. Show less

To detect light from light pulses at the operating wavelength of a light source in a lidar system, a thin-film notch filter is directly deposited on a photodetector or a lens via vacuum deposition or monolithic epoxy. The thin-film notch filter may include an anti-reflective coating such as a pattern-coated dichroic filter having an optical transmission of 90% or greater at in-band wavelengths and less than 5% at out-of-band wavelengths. To deposit the filter onto the photodetector without… Show more

To detect light from light pulses at the operating wavelength of a light source in a lidar system, a thin-film notch filter is directly deposited on a photodetector or a lens via vacuum deposition or monolithic epoxy. The thin-film notch filter may include an anti-reflective coating such as a pattern-coated dichroic filter having an optical transmission of 90% or greater at in-band wavelengths and less than 5% at out-of-band wavelengths. To deposit the filter onto the photodetector without disrupting electronic connections between the photodetector and an application-specific integrated circuit, the area surrounding the electrodes on the photodetector is kept open using photolithography. Show less

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 provided by the light pulse. Triggering events may include exceeding a threshold speed, being within a threshold distance of a person or other object, an atmospheric condition, etc. In some scenarios, the power is adjusted to address eye-safety concerns.

To compensate for motor dynamics in a scanner in a lidar system, a light source transmits light pulses at a variable pulse rate in accordance with a scan speed of the scanner. More specifically, the pulse rate may be directly related to the scan speed so that the light source transmits light pulses uniformly across a field of regard. A controller may determine the scan speed and provide a control signal to the light source adjusting the pulse rate accordingly.

To detect return light pulses in a lidar system when scanning in the forward-scanning and reverse-scanning directions, a light source may transmit first light pulses having a first wavelength when scanning in the forward-scanning direction and may transmit second light pulses having a second wavelength when scanning in the reverse-scanning direction. A diffractive optical element (DOE) is configured to deflect the two wavelengths in opposite directions, so that light pulses are transmitted… Show more

To detect return light pulses in a lidar system when scanning in the forward-scanning and reverse-scanning directions, a light source may transmit first light pulses having a first wavelength when scanning in the forward-scanning direction and may transmit second light pulses having a second wavelength when scanning in the reverse-scanning direction. A diffractive optical element (DOE) is configured to deflect the two wavelengths in opposite directions, so that light pulses are transmitted ahead of the field of view of the detector in the scanning direction of the lidar system. A controller may determine the scanning direction of a scanner in the lidar system and transmit a control signal to a light source indicative of a wavelength that corresponds to the scanning direction. The light source may then transmit light pulses at the requested wavelength.
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A lidar system with a pulsed laser diode to produce a plurality of optical seed pulses of light at one or more operating wavelengths between approximately 1400 nm and approximately 1600 nm. The lidar system may also include one or more optical amplifiers to amplify the optical seed pulses to produce a plurality of output optical pulses. Each optical amplifier may produce an amount of amplified spontaneous emission (ASE), and the output optical pulses may have characteristics comprising: a pulse… Show more

A lidar system with a pulsed laser diode to produce a plurality of optical seed pulses of light at one or more operating wavelengths between approximately 1400 nm and approximately 1600 nm. The lidar system may also include one or more optical amplifiers to amplify the optical seed pulses to produce a plurality of output optical pulses. Each optical amplifier may produce an amount of amplified spontaneous emission (ASE), and the output optical pulses may have characteristics comprising: a pulse repetition frequency of less than or equal to 100 MHz; a pulse duration of less than or equal to 20 nanoseconds; and a duty cycle of less than or equal to 1%. The lidar system may also include one or more optical filters to attenuate the ASE and a receiver to detect at least a portion of the output optical pulses scattered by a target located a distance. Show less

A lidar system operates as an active short-wave infrared (SWIR) camera system to determine a four-dimensional image at each point in a two-dimensional field of regard. The camera system includes a short-wave infrared spectrum scanner that transmits a pulse of light at a particular position or coordinate in a two-dimensional field of regard and a receiver that detects return pulses scattered from a target in the field of regard coincident with the particular position. The receiver includes a… Show more

A lidar system operates as an active short-wave infrared (SWIR) camera system to determine a four-dimensional image at each point in a two-dimensional field of regard. The camera system includes a short-wave infrared spectrum scanner that transmits a pulse of light at a particular position or coordinate in a two-dimensional field of regard and a receiver that detects return pulses scattered from a target in the field of regard coincident with the particular position. The receiver includes a detector that detects the returned pulse, a range determination unit that determines, based on the timing of the returned pulse, a distance to the target at the particular position, and an intensity measurement unit that determines the magnitude, amplitude, or intensity of the returned pulse, which information provides an indication of the relative, or in some cases, absolute reflectivity of the target at the particular point in the field of regard. Show less

n one embodiment, a laser system includes a seed laser diode configured to produce a free-space seed-laser beam and a seed-laser lens configured to collimate the seed-laser beam. The laser system also includes a pump laser diode configured to produce a free-space pump-laser beam and a pump-laser lens configured to collimate the pump-laser beam. The laser system further includes an optical-beam combiner configured to combine the collimated seed-laser and pump-laser beams into a combined… Show more

n one embodiment, a laser system includes a seed laser diode configured to produce a free-space seed-laser beam and a seed-laser lens configured to collimate the seed-laser beam. The laser system also includes a pump laser diode configured to produce a free-space pump-laser beam and a pump-laser lens configured to collimate the pump-laser beam. The laser system further includes an optical-beam combiner configured to combine the collimated seed-laser and pump-laser beams into a combined free-space beam and a focusing lens configured to focus the combined beam. The laser system also includes an optical gain fiber that includes an input end configured to receive the focused beam. The laser system also includes a mounting platform, where one or more of the seed laser, the seed-laser lens, the pump laser, the pump-laser lens, the combiner, the focusing lens, and the input end of the gain fiber are mechanically attached to the platform. Show less

A lidar system with a light source to emit a pulse of light and a receiver to detect a return pulse of light. The receiver can include a first channel to receive a first portion of the return pulse and produce a first digital output signal, and a second channel to receive a second portion of the return pulse and produce a second digital output signal. The receiver can include a logic circuit to produce an output electrical-edge signal in response to receiving the digital output signals. The… Show more

A lidar system with a light source to emit a pulse of light and a receiver to detect a return pulse of light. The receiver can include a first channel to receive a first portion of the return pulse and produce a first digital output signal, and a second channel to receive a second portion of the return pulse and produce a second digital output signal. The receiver can include a logic circuit to produce an output electrical-edge signal in response to receiving the digital output signals. The receiver can also include a time-to-digital converter to determine a time interval based on an emission time of the pulse of light and based on the electrical-edge signal. The lidar system can also include a processor to determine a distance to a target based at least in part on the time interval.
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In one embodiment, a lidar system includes a self-Raman laser that includes a Raman-active gain
medium and a Q-switch. The self-Raman laser is configured to: produce Q-switched pulses of light at a lasing wavelength of the self-Raman laser; Raman-shift, in the Raman-active gain medium, at least a
portion of the Q-switched pulses to produce Raman-shifted pulses of light, where the Raman-shifted
pulses have a Raman-shifted wavelength that is longer than the lasing wavelength; and emit at… Show more

In one embodiment, a lidar system includes a self-Raman laser that includes a Raman-active gain
medium and a Q-switch. The self-Raman laser is configured to: produce Q-switched pulses of light at a lasing wavelength of the self-Raman laser; Raman-shift, in the Raman-active gain medium, at least a
portion of the Q-switched pulses to produce Raman-shifted pulses of light, where the Raman-shifted
pulses have a Raman-shifted wavelength that is longer than the lasing wavelength; and emit at least a
portion of the Raman-shifted pulses. The lidar system further includes a scanner configured to scan the emitted pulses of light across a field of regard and a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system. The lidar system also includes a processor configured to determine the distance from the lidar system to the target. Show less

A lidar system may have a light source configured to emit pulses of light along a field of view of the light source and a scanner to scan the light source field of view in a scanning direction across a plurality of pixels located downrange from the lidar system. The scanner can direct a pulse of light, which is emitted by the light source along the light source field of view, toward a pixel and can scan a field of view of a first detector. The first detector field of view can be scanned in the… Show more

A lidar system may have a light source configured to emit pulses of light along a field of view of the light source and a scanner to scan the light source field of view in a scanning direction across a plurality of pixels located downrange from the lidar system. The scanner can direct a pulse of light, which is emitted by the light source along the light source field of view, toward a pixel and can scan a field of view of a first detector. The first detector field of view can be scanned in the scanning direction across the plurality of pixels and the scanning speed of the first detector field of view can be approximately equal to the scanning speed of the light source field of view. The first detector can detect a portion of the pulse of light scattered by a target located at least partially within the pixel. Show less

A lidar system having a light source to emit an output beam and an overlap mirror having a reflecting
surface with an aperture through which the output beam passes. The lidar system may include mirrors
driven by a galvanometer scanner, a resonant scanner, a microelectromechanical systems device, or a
voice coil motor. The mirrors may direct the output beam toward a light source field of view (FOV) and
may move the light source FOV to different locations within a field of regard. The… Show more

A lidar system having a light source to emit an output beam and an overlap mirror having a reflecting
surface with an aperture through which the output beam passes. The lidar system may include mirrors
driven by a galvanometer scanner, a resonant scanner, a microelectromechanical systems device, or a
voice coil motor. The mirrors may direct the output beam toward a light source field of view (FOV) and
may move the light source FOV to different locations within a field of regard. The mirrors may receive
reflected portions of the output beam as an input beam and direct the input beam toward the reflecting surface of the overlap mirror. The lidar system may include a receiver to receive the input beam from the reflecting surface of the overlap mirror. The receiver may have a receiver FOV that moves synchronously with, and at least partially overlaps, the light source FOV. Show less

In one embodiment, a system includes a first lidar sensor, which includes a first scanner configured to
scan first pulses of light along a first scan pattern and a first receiver configured to detect scattered light from the first pulses of light. The system also includes a second lidar sensor, which includes a second scanner configured to scan second pulses of light along a second scan pattern and a second receiver configured to detect scattered light from the second pulses of light. The… Show more

In one embodiment, a system includes a first lidar sensor, which includes a first scanner configured to
scan first pulses of light along a first scan pattern and a first receiver configured to detect scattered light from the first pulses of light. The system also includes a second lidar sensor, which includes a second scanner configured to scan second pulses of light along a second scan pattern and a second receiver configured to detect scattered light from the second pulses of light. The first scan pattern and the second scan pattern are at least partially overlapped. The system further includes an enclosure, where the first lidar sensor and the second lidar sensor are contained within the enclosure. The enclosure includes a window configured to transmit the first pulses of light and the second pulses of light. Show less

A lidar system with a pulsed laser diode configured to produce an optical seed pulse of light at an
operating wavelength between approximately 1400 nm and approximately 1600 nm. The lidar system
may also include an optical amplifier configured to amplify the optical seed pulse to produce an eye-safe output optical pulse that is emitted into a field of view. The optical amplifier may produce an amount of amplified spontaneous emission (ASE) associated with the output optical pulse. The… Show more

A lidar system with a pulsed laser diode configured to produce an optical seed pulse of light at an
operating wavelength between approximately 1400 nm and approximately 1600 nm. The lidar system
may also include an optical amplifier configured to amplify the optical seed pulse to produce an eye-safe output optical pulse that is emitted into a field of view. The optical amplifier may produce an amount of amplified spontaneous emission (ASE) associated with the output optical pulse. The lidar system may include an optical filter configured to filter the output optical pulse to reduce the associated ASE. The lidar system may also include a receiver configured to detect at least a portion of the output optical pulse reflected or scattered from the field of view. Show less

A lidar system with a light source to emit a pulse of light into a field of view and a receiver to detect a
return pulse of light which is reflected or scattered by a target in the field of view. The receiver may
include an avalanche photodiode to generate an electrical-current pulse corresponding to the return
pulse and a transimpedance amplifier to produce a voltage pulse that corresponds to the electrical-
current pulse. A voltage amplifier may amplify the voltage pulse and a… Show more

A lidar system with a light source to emit a pulse of light into a field of view and a receiver to detect a
return pulse of light which is reflected or scattered by a target in the field of view. The receiver may
include an avalanche photodiode to generate an electrical-current pulse corresponding to the return
pulse and a transimpedance amplifier to produce a voltage pulse that corresponds to the electrical-
current pulse. A voltage amplifier may amplify the voltage pulse and a comparator may produce an edge signal when the amplified voltage pulse exceeds a threshold. A time-to- digital converter may determine a time interval based on an emission time of the pulse of light and based on the edge signal. A processor may determine a distance to the target using the time interval. Show less

In one embodiment, a lidar system includes a pump laser configured to produce pulses of light at a
pump wavelength. The lidar system further includes an optical parametric oscillator (OPO) with an OPO medium configured to: receive the pump pulses from the pump laser; convert at least part of the
received pump pulses into pulses of light at a signal wavelength and pulses of light at an idler
wavelength; and emit at least a portion of the signal pulses. The lidar system also includes a… Show more

In one embodiment, a lidar system includes a pump laser configured to produce pulses of light at a
pump wavelength. The lidar system further includes an optical parametric oscillator (OPO) with an OPO medium configured to: receive the pump pulses from the pump laser; convert at least part of the
received pump pulses into pulses of light at a signal wavelength and pulses of light at an idler
wavelength; and emit at least a portion of the signal pulses. The lidar system also includes a scanner
configured to scan the emitted pulses of light across a field of regard and a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system. The lidar system also includes a processor configured to determine the distance from the lidar system to the target. Show less

In one embodiment, a lidar system includes a Q-switched laser configured to emit pulses of light, where the Q-switched laser includes a gain medium and a Q-switch. The lidar system further includes a scanner configured to scan the emitted pulses of light across a field of regard and a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system. The lidar system also includes a processor configured to determine… Show more

In one embodiment, a lidar system includes a Q-switched laser configured to emit pulses of light, where the Q-switched laser includes a gain medium and a Q-switch. The lidar system further includes a scanner configured to scan the emitted pulses of light across a field of regard and a receiver configured to detect at least a portion of the scanned pulses of light scattered by a target located a distance from the lidar system. The lidar system also includes a processor configured to determine the distance from the lidar system to the target based at least in part on a round-trip time of flight for an emitted pulse of light to travel from the lidar system to the target and back to the lidar system. Show less

A lidar system with a seed laser to produce seed pulses with wavelengths between approximately 1400 nm and 2050 nm. A first amplifier amplifies the seed pulses to produce amplified seed pulses and amplified spontaneous emission (ASE). An optical filter removes at least a portion of the ASE. A second amplifier amplifies the seed pulses to produce output pulses having a repetition frequency less than or equal to 100 MHz, a duration less than or equal to 20 nanoseconds, a duty cycle less than or… Show more

A lidar system with a seed laser to produce seed pulses with wavelengths between approximately 1400 nm and 2050 nm. A first amplifier amplifies the seed pulses to produce amplified seed pulses and amplified spontaneous emission (ASE). An optical filter removes at least a portion of the ASE. A second amplifier amplifies the seed pulses to produce output pulses having a repetition frequency less than or equal to 100 MHz, a duration less than or equal to 20 nanoseconds, a duty cycle less than or equal to 1%, an energy greater than or equal to 10 nanojoules, a peak power greater than or equal to 1 watt, and an average power less than or equal to 50 watts, the ASE comprising less than or equal to 25% of the average power. A sensor head directs the output pulses into a field of view and detects reflected light therefrom. Show less

A lidar system which includes one or more light sources to produce one or more optical signals and a
demultiplexer to separate the one or more optical signals into a plurality of sub-portions which may be distributed to a plurality of sensor heads. The sensor heads emit the sub-portions of the one or more optical signals into a plurality of fields of view and to detect reflected or scattered light from the fields of view. The lidar system also includes one or more optical amplifiers and one… Show more

A lidar system which includes one or more light sources to produce one or more optical signals and a
demultiplexer to separate the one or more optical signals into a plurality of sub-portions which may be distributed to a plurality of sensor heads. The sensor heads emit the sub-portions of the one or more optical signals into a plurality of fields of view and to detect reflected or scattered light from the fields of view. The lidar system also includes one or more optical amplifiers and one or more filters to reduce amplified spontaneous emission produced by the one or more optical amplifiers. Show less

A method and apparatus are disclosed for a LED used in a medical device emitting a wavelength from about 200 nanometers to about 440 nanometers along a path. A composition of phosphors coats the LED to broaden the electromagnetic spectrum from about 200 nanometers to about 780 nanometers. A filter is positioned in the path to selectively permit electromagnetic radiation of a particular range of wavelengths to pass through. The medical device is used to provide a broad spectral source for… Show more

A method and apparatus are disclosed for a LED used in a medical device emitting a wavelength from about 200 nanometers to about 440 nanometers along a path. A composition of phosphors coats the LED to broaden the electromagnetic spectrum from about 200 nanometers to about 780 nanometers. A filter is positioned in the path to selectively permit electromagnetic radiation of a particular range of wavelengths to pass through. The medical device is used to provide a broad spectral source for medical diagnosis. Show less

An aperture shaped to provide a narrow beam in the horizontal plane but a wider beam in the vertical plane that will provide improved image quality in spectrometers without sacrificing as much throughput as typically experienced using a reduced diameter round aperture along with a method of mounting the entrance slit and the limiting aperture on a transparent block for optical stability and ease of alignment is disclosed.

This disclosure describes an apparatus and method of multi-spectral imaging to obtain and analyze information contained in the spectral distribution (reflection, absorption, or emission) of components within the image. The spectral information is captured in a series of images from differing spectral regions. This series of images are then combined into a composite image using re-colorization and image stabilization algorithms for display in real time. The process can be repeated continuously… Show more

This disclosure describes an apparatus and method of multi-spectral imaging to obtain and analyze information contained in the spectral distribution (reflection, absorption, or emission) of components within the image. The spectral information is captured in a series of images from differing spectral regions. This series of images are then combined into a composite image using re-colorization and image stabilization algorithms for display in real time. The process can be repeated continuously allowing spectral changes over time to be captured and analyzed. In the alternative one sequence of images can be captured for use as a still image. Show less

Two, three dimensional color displays having uniform dispersion of red, green and blue visible light emitting micron particles. Pumping at approximately 976 nm can generate green and red colors having an approximately 4% limit efficiency. One source can generate three colors with approximately limit efficiency. Modulators, scanners and lens can move and focus laser beams to different pixels forming two dimensional color images. Displays can be formed from near infrared source beams that are… Show more

Two, three dimensional color displays having uniform dispersion of red, green and blue visible light emitting micron particles. Pumping at approximately 976 nm can generate green and red colors having an approximately 4% limit efficiency. One source can generate three colors with approximately limit efficiency. Modulators, scanners and lens can move and focus laser beams to different pixels forming two dimensional color images. Displays can be formed from near infrared source beams that are simultaneously split and modulated with micro electro mechanical systems, spatial light modulators, liquid crystal displays, digital micromirrors, digital light projectors, grating light valves, liquid crystal silicon devices, polysilicon LCDs, electron beam written SLMs, and electrically switchable bragg gratings. Pixels containing: Yb,Tm:YLF can emit blue light, Yb,Er(NYF) can emit green light, and Yb,Er:KYF and Yb,Ef:YF3 can emit red light. Show less

An inexpensive energy monitoring device and method for measuring energy usage and power costs in real time. The invention can include an external type digital battery powered camera that can be mounted away from and adjacent to the outdoor utility meter on a rotatable arm, which can send data signals to remote locations indoors using wireless such as an RF signal to a detector/display inside the residence. The indoor unit can be programmed to display desirable energy status information to a… Show more

An inexpensive energy monitoring device and method for measuring energy usage and power costs in real time. The invention can include an external type digital battery powered camera that can be mounted away from and adjacent to the outdoor utility meter on a rotatable arm, which can send data signals to remote locations indoors using wireless such as an RF signal to a detector/display inside the residence. The indoor unit can be programmed to display desirable energy status information to a home owner on power usage and power costs on a daily bases, monthly bases, and yearly bases so that the home owner can budget energy usage and energy costs as needed. A shield can also be used with device and method for shielding power meters from adverse weather conditions. Show less

Two, three dimensional color displays having uniform dispersion of red, green and blue visible light emitting micron particles. Pumping at approximately 976 nm can generate green and red colors having an approximately 4% limit efficiency. One source can generate three colors with approximately limit efficiency. Modulators, scanners and lens can move and focus laser beams to different pixels forming two dimensional color images. Displays can be formed from near infrared source beams that are… Show more

Two, three dimensional color displays having uniform dispersion of red, green and blue visible light emitting micron particles. Pumping at approximately 976 nm can generate green and red colors having an approximately 4% limit efficiency. One source can generate three colors with approximately limit efficiency. Modulators, scanners and lens can move and focus laser beams to different pixels forming two dimensional color images. Displays can be formed from near infrared source beams that are simultaneously split and modulated with micro electro mechanical systems, spatial light modulators, liquid crystal displays, digital micromirrors, digital light projectors, grating light valves, liquid crystal silicon devices, polysilicon LCDs, electron beam written SLMs, and electrically switchable bragg gratings. Pixels containing: Yb,Tm:YLF can emit blue light, Yb,Er(NYF) can emit green light, and Yb,Er:KYF and Yb,Ef:YF3 can emit red light. Show less

A tunable, solid state laser device with both visible and infrared laser emission is developed with a trivalent ytterbium-doped yttrium calcium oxyborate crystal as the host crystal. The Yb:YCOB crystal generates an infrared fundamental light over a wide bandwidth, from approximately 980 nanometers (nm) to approximately 1100 nm. The bandwidth generated by the Yb:YCOB crystal is approximately 100 nm wide and supports the generation of pulsed infrared light or when self-frequency doubled provides… Show more

A tunable, solid state laser device with both visible and infrared laser emission is developed with a trivalent ytterbium-doped yttrium calcium oxyborate crystal as the host crystal. The Yb:YCOB crystal generates an infrared fundamental light over a wide bandwidth, from approximately 980 nanometers (nm) to approximately 1100 nm. The bandwidth generated by the Yb:YCOB crystal is approximately 100 nm wide and supports the generation of pulsed infrared light or when self-frequency doubled provides a compact, efficient, source of tunable, visible, blue or green laser light in wavelengths of approximately 490 nm to approximately 550 nm. Show less

Neodymium-doped yttrium calcium oxyborate (Nd:YCOB) is the single active gain element for a solid-state laser device capable of achieving both lasing and self-frequency doubling optical effects. A pumping source for optically pumping Nd:YCOB can generate a laser light output of approximately 400 mW at approximately 1060 nm wavelength and a self-frequency doubled output of approximately 60 mW at approximately 530 nm wavelength. Thus, a laser device can be designed that is compact, less expensive… Show more

Neodymium-doped yttrium calcium oxyborate (Nd:YCOB) is the single active gain element for a solid-state laser device capable of achieving both lasing and self-frequency doubling optical effects. A pumping source for optically pumping Nd:YCOB can generate a laser light output of approximately 400 mW at approximately 1060 nm wavelength and a self-frequency doubled output of approximately 60 mW at approximately 530 nm wavelength. Thus, a laser device can be designed that is compact, less expensive and a high-powered source of visible, green laser light. Show less

Neodymium-doped yttrium calcium oxyborate (Nd:YCOB) is the single active gain element for a solid-state laser device capable of achieving both lasing and self-frequency doubling optical effects. A pumping source for optically pumping Nd:YCOB can generate a laser light output of approximately 400 mW at approximately 1060 nm wavelength and a self-frequency doubled output of approximately 60 mW at approximately 530 nm wavelength. Thus, a laser device can be designed that is compact, less expensive… Show more

Neodymium-doped yttrium calcium oxyborate (Nd:YCOB) is the single active gain element for a solid-state laser device capable of achieving both lasing and self-frequency doubling optical effects. A pumping source for optically pumping Nd:YCOB can generate a laser light output of approximately 400 mW at approximately 1060 nm wavelength and a self-frequency doubled output of approximately 60 mW at approximately 530 nm wavelength. Thus, a laser device can be designed that is compact, less expensive and a high-powered source of visible, green laser light. Show less

A tunable, solid state laser device with both visible and infrared laser emission is developed with a trivalent ytterbium-doped yttrium calcium oxyborate crystal as the host crystal. The Yb:YCOB crystal generates an infrared fundamental light over a wide bandwidth, from approximately 980 nanometers (nm) to approximately 1100 nm. The bandwidth generated by the Yb:YCOB crystal is approximately 100 nm wide and supports the generation of pulsed infrared light or when self-frequency doubled provides… Show more

A tunable, solid state laser device with both visible and infrared laser emission is developed with a trivalent ytterbium-doped yttrium calcium oxyborate crystal as the host crystal. The Yb:YCOB crystal generates an infrared fundamental light over a wide bandwidth, from approximately 980 nanometers (nm) to approximately 1100 nm. The bandwidth generated by the Yb:YCOB crystal is approximately 100 nm wide and supports the generation of pulsed infrared light or when self-frequency doubled provides a compact, efficient, source of tunable, visible, blue or green laser light in wavelengths of approximately 490 nm to approximately 550 nm. Show less