Anamorphic receiver optical design for LIDAR line sensors

1. An anamorphic light detection and ranging (LIDAR) device comprising:

a group of rotationally symmetric lenses;

a first cylindrical lens; and

a second cylindrical lens,

wherein the first cylindrical lens is arranged between the group of rotationally symmetric lenses and the second cylindrical lens on an optical axis,

wherein a distance between the first cylindrical lens and second cylindrical lens on the optical axis is less than a distance between the first cylindrical lens and the group of rotationally symmetric lenses, and

wherein the anamorphic LIDAR device is associated with a first focal length in a first direction associated with a scene field of view, and a second focal length in a second direction perpendicular to the first direction and associated with an instantaneous field of view, and wherein the first focal length is different than the second focal length.

2. The anamorphic LIDAR device of claim 1 , wherein:

the first cylindrical lens is a negative lens,

the second cylindrical lens is a positive lens,

the first focal length is longer than the second focal length, and

wherein a length of the first direction of a LIDAR sensor is shorter than a length of the second direction of the LIDAR sensor.

3. The anamorphic LIDAR device of claim 1 , wherein:

the first cylindrical lens is a positive lens,

the second cylindrical lens is a negative lens,

the first focal length is shorter than the second focal length, and

wherein a length of the first direction of a LIDAR sensor is shorter than a length of the second direction of the LIDAR sensor.

4. The anamorphic LIDAR device of claim 1 , wherein the group of rotationally symmetric lenses consists of three lenses.

5. The anamorphic LIDAR device of claim 1 , wherein the group of rotationally symmetric lenses consists of four lenses.

6. The anamorphic LIDAR device of claim 1 , wherein the group of rotationally symmetric lenses comprises a convex lens and a concave lens.

7. The anamorphic LIDAR device of claim 1 , wherein the first cylindrical lens comprises a first oblong aperture and the second cylindrical lens comprises a second oblong aperture, and

wherein a length of the first direction of a LIDAR sensor is shorter than a length of the second direction of the LIDAR sensor.

8. The anamorphic LIDAR device of claim 1 , wherein the anamorphic LIDAR device is LIDAR line sensor associated with operation of a vehicle, and

wherein a length of the first direction of the LIDAR line sensor is shorter than a length of the second direction of the LIDAR line sensor.

9. A vehicle anamorphic light detection and ranging (LIDAR) system comprising:

a group of rotationally symmetric lenses;

a first cylindrical lens; and

a second cylindrical lens,

wherein the first cylindrical lens is arranged between the group of rotationally symmetric lenses and the second cylindrical lens on an optical axis,

wherein a distance between the first cylindrical lens and second cylindrical lens on the optical axis is less than a distance between the first cylindrical lens and the group of rotationally symmetric lenses,

wherein the vehicle anamorphic LIDAR system is associated with a first focal length in a first direction associated with a scene field of view, and a second focal length in a second direction perpendicular to the first direction and associated with an instantaneous field of view, and wherein the first focal length is different than the second focal length,

wherein the anamorphic LIDAR device includes LIDAR line sensor, and

wherein a length of the first direction of the LIDAR line sensor is different from a length of the second direction of the LIDAR line sensor.

10. The vehicle anamorphic LIDAR system of claim 9 , wherein:

the first cylindrical lens is a negative lens,

the second cylindrical lens is a positive lens,

the first focal length is longer than the second focal length, and

wherein the length of the first direction of the LIDAR line sensor is shorter than the length of the second direction of the LIDAR line sensor.

11. The vehicle anamorphic LIDAR system of claim 9 , wherein:

the first cylindrical lens is a positive lens,

the second cylindrical lens is a negative lens,

the first focal length is shorter than the second focal length, and

wherein the length of the first direction of the LIDAR line sensor is shorter than the length of the second direction of the LIDAR line sensor.

12. The vehicle anamorphic LIDAR system of claim 9 , wherein the group of rotationally symmetric lenses consists of three lenses.

13. The vehicle anamorphic LIDAR system of claim 9 , wherein the group of rotationally symmetric lenses consists of four lenses.

14. The vehicle anamorphic LIDAR system of claim 9 , wherein the group of rotationally symmetric lenses comprises a convex lens and a concave lens.

15. The vehicle anamorphic LIDAR system of claim 9 , wherein the first cylindrical lens comprises a first oblong aperture and the second cylindrical lens comprises a second oblong aperture.

16. A method for receiving light detection and ranging (LIDAR) signals, the method comprising:

emitting, by an anamorphic LIDAR system, a LIDAR pulse;

receiving, by the anamorphic LIDAR system, a reflection of the LIDAR pulse;

refracting, by a group of rotationally symmetric lenses of the anamorphic LIDAR system, the reflection of the LIDAR pulse;

refracting, by a first cylindrical lens of the anamorphic LIDAR system, the reflection of the LIDAR pulse; and

refracting, by a second cylindrical lens of the anamorphic LIDAR system, the reflection of the LIDAR pulse,

wherein the first cylindrical lens is arranged between the group of rotationally symmetric lenses and the second cylindrical lens on an optical axis,

wherein the anamorphic LIDAR system is associated with a first focal length in a first direction associated with a scene field of view, and a second focal length in a second direction perpendicular to the first direction and associated with an instantaneous field of view, and wherein the first focal length is different than the second focal length, and

wherein the group of rotationally symmetric lenses, the first cylindrical lens and the second cylindrical lens is aligned in a direction of the optical axis perpendicular to the first and second directions.

17. The method of claim 16 , wherein the group of rotationally symmetric lenses consists of three cylindrical lenses, and wherein refracting the reflection of the LIDAR pulse by the group of rotationally symmetric lenses comprises refracting the reflection of the LIDAR pulse using a first rotationally symmetric lens, refracting the reflection of the LIDAR pulse using a second rotationally symmetric lens, and refracting the reflection of the LIDAR pulse using a third rotationally symmetric lens.

18. The method of claim 16 , wherein the group of rotationally symmetric lenses consists of four lenses, and wherein refracting the reflection of the LIDAR pulse by the group of rotationally symmetric lenses comprises refracting the reflection of the LIDAR pulse using a first rotationally symmetric lens, refracting the reflection of the LIDAR pulse using a second rotationally symmetric lens, refracting the reflection of the LIDAR pulse using a third rotationally symmetric lens, and refracting the reflection of the LIDAR pulse using a fourth rotationally symmetric lens.

19. The method of claim 16 , wherein the group of rotationally symmetric lenses comprises a convex lens and a concave lens, and rein refracting the reflection of the LIDAR pulse by the group of rotationally symmetric lenses comprises refracting the reflection of the LIDAR pulse using the convex lens and refracting the reflection of the LIDAR pulse using the concave lens.

20. The method of claim 16 , further comprising controlling operation of a vehicle based on the reflection of the LIDAR pulse.