Full waveform multi-pulse optical rangefinder instrument
There is provided a method for optically scanning a region according to a plurality of scanning directions, comprising: receiving an interleave sequence defining a scanning order for the plurality of scanning directions; sequentially propagating optical pulses according to the interleave sequence; detecting pulse echoes corresponding to a reflection of the propagated optical pulses on at least one object present within the region; and outputting the detected pulse echoes. There is further described a computer-implemented method for correcting a temporal slippage of an optical echo.
1. A method for optically scanning a region according to a plurality of scanning directions, comprising:
receiving an interleave sequence defining a scanning order for the plurality of scanning directions;
sequentially propagating optical pulses according to the interleave sequence;
detecting pulse echoes corresponding to a reflection of the propagated optical pulses on at least one object present within the region; and
outputting the detected pulse echoes.
2. The method of claim 1 , wherein said receiving the interleave sequence comprises: receiving the plurality of scanning directions; and
generating the interleave sequence.
3. The method of claim 2 , wherein said receiving the plurality of scanning directions comprises:
receiving a total scanning range;
receiving one of a number of scanning directions and a field of view per scanning direction; and
determining the scanning directions.
4. The method of claim 2 , wherein said generating the interleave sequence comprises:
splitting the plurality of scanning directions into a plurality of direction subassemblies; and
generating the interleave sequence using the direction subassemblies.
5. The method of claim 1 , further comprising repeating:
said sequentially propagating optical pulses according to the interleave sequence;
said detecting pulse echoes corresponding to the reflection of the propagated optical pulses on the at least one object present within the region; and
said outputting the detected pulse echoes.
6. A system for optically scanning a region according to a plurality of scanning directions, comprising:
a controller for receiving an interleave sequence defining a scanning order for the plurality of scanning directions;
a pulsed light source for sequentially propagating optical pulses according to the interleave sequence;
a photodetector for detecting pulse echoes corresponding to a reflection of the propagated optical pulses on at least one object present within the region; and
outputting the detected pulse echoes.
7. The system of claim 6 , wherein the controller is configured for:
receiving the plurality of scanning directions; and
generating the interleave sequence.
8. The system of claim 7 , wherein the controller is configured for:
receiving a total scanning range;
receiving one of a number of scanning directions and a field of view per scanning direction; and
determining the scanning directions.
9. The system of claim 7 , wherein the controller is configured for:
splitting the plurality of scanning directions into a plurality of direction subassemblies; and
generating the interleave sequence using the direction subassemblies.
10. The system of claim 6 , wherein the system is further configured for repeating:
said sequentially propagating optical pulses according to the interleave sequence;
said detecting pulse echoes corresponding to the reflection of the propagated optical pulses on the at least one object present within the region; and
said outputting the detected pulse echoes.