Hyper-resolved, high bandwidth scanned LIDAR systems
View Patent ↗Embodiments are directed toward a scanning LIDAR system that measures a distance to a target that reflects light from a transmitter to a receiver. A light transmitter is arranged to scan pulses of light that reflect off a remote surface (target) and illuminate fractions of the Field of View (FoV) of a receiver, such as a camera. These fractions of the FoV are smaller than a resolution provided by an array of pixels used to detect Time of Flight (ToF) reflections of the scanned pulses of light from a remote surface. The exemplary scanning LIDAR system may resolve an image of the remote surface at substantially higher resolution than the pixel resolution provided by its receiver.
1. A method for measuring a range of a target, comprising:
emitting, by a transmitter, scanned sequential pulses of light toward the target, wherein a timing of the light pulses is advanced by fractional increments during successive scans and is correlated to a fractional shift in direction within a telescopic view of a same pixel in an array of pixels provided by the receiver;
receiving, by the receiver, one or more reflections of the scanned pulses of light from the target, wherein each pulse of light reflected from the target and received by the receiver illuminates a fraction of a Field of View of a pixel and is smaller than a resolution of the pixel in the array of pixels provided by the receiver, and wherein the pixel array is arranged in one or more of rows or columns, and wherein each pixel is configured to sense one or more photons of the reflected pulses of light;
determining, by one or more processor devices, one or more departure times of the scanned pulses of light; and
determining, by the one or more processor devices, the range of the target with an image resolution of the target that is greater than a pixel resolution of the array of pixels based on the timing advancement for the fractional increments that is correlated to the scanned pulses of reflected light sensed by one or more of the array of pixels.
2. The method of claim 1 , wherein the scanned pulses of light pass through or emanate from a narrow slot aperture-followed by 1 dimensional focusing optics to form a thin blade of light that is directed to the target and reflected to the receiver.
3. The method of claim 1 , wherein the scanned pulses of light pass through a thin slot aperture to form a thin serrated blade of light that is directed to the target and reflected to the receiver.
4. The method of claim 1 , wherein the pixels further comprise silicon photomultiplier (SiPM) pixels that can detect a single photon.
5. The method of claim 1 , further comprising providing a collimating lens that collimates the scanned pulses of light emitted by the transmitter.
6. The method of claim 1 , wherein the light emitted by the transmitter is laser light.
7. The method of claim 1 , further comprising providing a mirror to scan the emitted light towards the target, wherein a shape of the mirror is one of planar, polygon, convex, concave, or spherical.
8. The method of claim 1 , further comprising:
determining, by the one or more processor devices, one or more anticipated arrival times of the one or more scanned pulses of light reflections on one or more rows or columns of the array of pixels based on the one or more departure times; and
sequentially activating, by the one or more processor devices, one or more portions of the array of pixels arranged in the one or more rows or columns to sense the scanned pulses of light reflections based on the one or more anticipated arrival times.
9. A system to provide a range of a target, comprising:
a transmitter that emits scanned sequential pulses of light toward the target, wherein a timing of the light pulses is advanced by fractional increments during successive scans and is correlated to a fractional shift in direction within a telescopic view of a same pixel in an array of pixels provided by the receiver;
a receiver that receives one or more reflections of the scanned pulses of light from the target, wherein each pulse of light reflected from the target and received by the receiver illuminates a fraction of a Field of View of a pixel and is smaller than a resolution of the pixel in the array of pixels provided by the receiver, and wherein the pixel array is arranged in one or more of rows or columns, and wherein each pixel is configured to sense one or more photons of the reflected pulses of light;
one or more memory devices that store instructions; and
one or more processor devices that execute the stored instructions to perform actions, including:
determining one or more departure times of the scanned pulses of light; and
determining the range of the target with an image resolution of the target that is greater than a pixel resolution of the array of pixels based on the timing advancement for the fractional increments that is correlated to the scanned pulses of reflected light sensed by one or more of the array of pixels.
10. The system of claim 9 , wherein the scanned pulses of light pass through or emanate from a narrow slot aperture-followed by 1 dimensional focusing optics to form a thin blade of light that is directed to the target and reflected to the receiver.
11. The system of claim 9 , wherein the scanned pulses of light pass through a thin slot aperture to form a thin serrated blade of light that is directed to the target and reflected to the receiver.
12. The system of claim 9 , wherein the pixels further comprise silicon photomultiplier (SiPM) pixels that can detect a single photon.
13. The system of claim 9 , further comprising providing a collimating lens that collimates the scanned pulses of light emitted by the transmitter.
14. The system of claim 9 , wherein the light emitted by the transmitter is laser light.
15. The system of claim 9 , further comprising providing a mirror to scan the emitted light towards the target, wherein a shape of the mirror is one of planar, polygon, convex, concave, or spherical.
16. The system of claim 9 , further comprising:
determining, by the one or more processor devices, one or more anticipated arrival times of the one or more scanned pulses of light reflections on one or more rows or columns of the array of pixels based on the one or more departure times; and
sequentially activating, by the one or more processor devices, one or more portions of the array of pixels arranged in the one or more rows or columns to sense the scanned pulses of light reflections based on the one or more anticipated arrival times.
17. A non-transitory processor readable storage media that includes instructions for measuring a range to a target, wherein execution of the instructions by one or more processor devices cause the one or more processor devices to perform actions, comprising:
emitting, by a transmitter, scanned sequential pulses of light toward the target, wherein a timing of the light pulses is advanced by fractional increments during successive scans and is correlated to a fractional shift in direction within a telescopic view of a same pixel in an array of pixels provided by the receiver;
receiving, by the receiver, one or more reflections of the scanned pulses of light from the target, wherein each pulse of light reflected from the target and received by the receiver illuminates a fraction of a Field of View of a pixel and is smaller than a resolution of the pixel in the array of pixels provided by the receiver, and wherein the pixel array is arranged in one or more of rows or columns, and wherein each pixel is configured to sense one or more photons of the reflected pulses of light;
determining, by one or more processor devices, one or more departure times of the scanned pulses of light; and
determining, by the one or more processor devices, the range of the target with an image resolution of the target that is greater than a pixel resolution of the array of pixels based on the timing advancement for the fractional increments that is correlated to the scanned pulses of reflected light sensed by one or more of the array of pixels.
18. The media of claim 17 , wherein the scanned pulses of light pass through or emanate from a narrow slot aperture-followed by 1 dimensional focusing optics to form a thin blade of light that is directed to the target and reflected to the receiver.
19. The media of claim 17 , wherein the scanned pulses of light pass through a thin slot aperture to form a thin serrated blade of light that is directed to the target and reflected to the receiver.
20. The media of claim 17 , wherein the pixels further comprise silicon photomultiplier (SiPM) pixels that can detect a single photon.