System and method for determining ranges to a target behind a transparent surface
View Patent ↗Systems and methods for determining ranges to a target disposed behind a transparent surface are described. A target acquisition system receives a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface. The lidar returns correspond to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface. A range measurement for each of the plurality of lidar returns is determined. The target acquisition system generates a histogram of the range measurements. The histogram includes an array including a plurality of range bins. Each range bin defines a unique portion of a predetermined distance out from the lidar. The histogram further includes a count associated with each respective range bin. The count corresponds to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin. In some implementations of the invention, the target acquisition system determines which of the range measurements correspond to the target based on the histogram. In some implementations of the invention, the target acquisition system determines which of the range measurements correspond to the transparent surface based on the histogram.
1. A method for determining ranges to a target disposed behind a transparent surface, the method comprising:
receiving a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface, the lidar returns corresponding to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface;
determining a range measurement for each of the plurality of lidar returns;
generating a histogram of the range measurements, the histogram comprising an array including a plurality of range bins, each range bin defining a unique portion of a predetermined distance from the lidar, the histogram further comprising a count associated with each respective range bin, the count corresponding to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin; and
determining which of the range measurements correspond to the target based on the histogram.
2. The method of claim 1 , further comprising:
determining which of the range measurements correspond to the transparent surface based on the histogram.
3. The method of claim 1 , wherein determining which of the range measurements correspond to the target based on the histogram comprises:
arranging the plurality of range bins of the histogram into one or more clusters of adjacent range bins, each range bin having its associated count greater than a predetermined threshold.
4. The method of claim 3 , wherein determining which of the range measurements correspond to the target based on the histogram comprises:
arranging the plurality of range bins of the histogram into two or more clusters of adjacent range bins, and
wherein determining which of the range measurements correspond to the target based on the histogram comprises determining that the range measurements associated with a second nearest one of the two or more clusters correspond to the target.
5. The method of claim 4 , further comprising determining that the range measurements associated with a nearest one of the two or more clusters correspond to the transparent surface.
6. The method of claim 1 , wherein receiving a plurality of lidar returns comprises:
receiving a plurality of lidar returns from the lidar when one or more lidar beams are directed toward a first spot;
causing the one or more lidar beams of the lidar to be directed toward a second spot; and
receiving a plurality of lidar returns from the lidar when one or more lidar beams are directed toward the second spot.
7. A system for determining ranges to a target disposed behind a transparent surface comprising:
a lidar configured to direct a lidar signal toward a target and to receive a plurality of lidar returns, the plurality of lidar returns corresponding to a portion of the lidar signal reflected back to the lidar from either the target or a transparent surface, wherein at least some of the plurality of lidar returns are from the target and at least some of the plurality of lidar returns are from the transparent surface; and
a processor configured to:
determine a range measurement for each of the plurality of lidar returns;
generate a histogram of the range measurements, the histogram comprising an array including a plurality of range bins, each range bin defining a unique portion of a predetermined distance outward from the lidar, the histogram further comprising a count associated with each respective range bin, the count corresponding to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin;
determining which of the range measurements correspond to the target based on the histogram.
8. The system of claim 7 , wherein the processor is further configured to:
determine which of the range measurements correspond to the transparent surface based on the histogram.
9. The system of claim 7 , wherein the processor configured to determine which of the range measurements correspond to the target based on the histogram comprises the processor configured to arrange the plurality of range bins of the histogram into one or more clusters of adjacent range bins, each range bin having its associated count greater than a predetermined threshold.
10. The system of claim 9 , wherein the processor configured to determine which of the range measurements correspond to the target based on the histogram comprises the processor configured to arrange the plurality of range bins of the histogram into two or more clusters of adjacent range bins, and wherein the processor configured to determine which of the range measurements correspond to the target based on the histogram comprises the processor configured to determine that the range measurements associated with a second nearest one of the two or more clusters correspond to the target.
11. The system of claim 10 , wherein the processor is further configured to determine that the range measurements associated with a nearest one of the two or more clusters correspond to the transparent surface.
12. The system of claim 7 , wherein the processor configured to receive a plurality of lidar returns comprises the processor configured to:
receive a plurality of lidar returns from the lidar when one or more lidar beams are directed toward a first spot;
cause the one or more lidar beams of the lidar to be directed toward a second spot; and
receive a plurality of lidar returns from the lidar when one or more lidar beams are directed toward the second spot.
13. A method for determining ranges to a target disposed behind a transparent surface, the method comprising:
receiving a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface, the lidar returns corresponding to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface;
determining a range measurement for each of the plurality of lidar returns;
generating a histogram of the range measurements, the histogram comprising an array including a plurality of range bins, each range bin defining a unique portion of a predetermined distance from the lidar, the histogram further comprising a count associated with each respective range bin, the count corresponding to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin;
generating at least two clusters of adjacent range bins in the histogram for which the associated count exceeds a threshold;
determining that a nearest of the at least two clusters corresponds to the transparent surface; and
determining that a second nearest of the at least two clusters corresponds to the target.
14. The method of claim 13 , further comprising filtering out those range measures that do not correspond to the target.