Reconstruction of pulsed signals
A system includes a signal transmitter configured to emit a signal pulse and a signal receiver configured to receive one or more reflected pulses of the emitted signal pulse, wherein the signal receiver includes a plurality of comparators configured to sample the one or more reflected pulses at different intensity threshold levels to determine a group of slices representative of the received one or more reflected pulses, wherein each slice of at least a portion of the group of slices identifies a corresponding timing of when at least a portion of the received one or more reflected pulses met a corresponding intensity threshold level. The system further includes one or more processors configured to use the determined slices to reconstruct the one or more reflected pulses.
1 . A system, comprising:
a signal transmitter configured to emit a signal pulse;
a signal receiver configured to receive one or more reflected pulses of the emitted signal pulse, wherein the signal receiver includes a plurality of comparators configured to sample the one or more reflected pulses at different intensity threshold levels to determine a group of slices representative of the received one or more reflected pulses, wherein each slice of at least a portion of the group of slices identifies a corresponding timing of when at least a portion of the received one or more reflected pulses met a corresponding intensity threshold level; and
one or more processors configured to use the determined slices to reconstruct the one or more reflected pulses including by being configured to:
compute a cost matrix based on analyzing timing overlaps between a first subgroup of one or more slices of the determined slices at a first threshold level of the different intensity threshold levels and a second subgroup of one or more slices of the determined slices at a second threshold level of the different intensity threshold levels; and
reconstruct the one or more reflected pulses based on the computed cost matrix.
2 . The system of claim 1 , wherein the first subgroup of one or more slices at the first threshold level and the second subgroup of one or more slices at the second threshold level comprise adjacent layers of slices that do not include slices at any threshold level between the first threshold level and the second threshold level.
3 . The system of claim 1 , wherein the one or more processors are configured to analyze timing overlaps between the first subgroup of one or more slices and the second subgroup of one or more slices including by being configured to determine an overlap value associated with at least one slice formed by combining a slice from the first subgroup of one or more slices and a slice from the second subgroup of one or more slices.
4 . The system of claim 3 , wherein the overlap value is a binary value that indicates whether a specified proportion of overlap exists.
5 . The system of claim 3 , wherein the one or more processors are further configured to analyze timing overlaps between the first subgroup of one or more slices and the second subgroup of one or more slices including by being configured to analyze patterns of overlap values in a matrix including at least the determined overlap value.
6 . The system of claim 5 , wherein the patterns of overlap values are indicative of reflected pulse artifacts including one or more of the following: a pulse realignment artifact, a fused pulse artifact, a floating pulse artifact, an inflection artifact, or a hardware-related artifact.
7 . The system of claim 6 , wherein the reflected pulse artifacts include fused pulses and pulses missing one or more slices.
8 . The system of claim 1 , wherein the one or more processors are further configured to use the determined slices to reconstruct the one or more reflected pulses including by being configured to determine and restore incomplete pulses based at least in part on the analyzed timing overlaps.
9 . The system of claim 1 , wherein the one or more processors are further configured to use the determined slices to reconstruct the one or more reflected pulses including by being configured to determine and split fused pulses based at least in part on the analyzed timing overlaps.
10 . The system of claim 1 , wherein the one or more processors are further configured to analyze a number of timing overlaps that are in addition to the timing overlaps associated with the first subgroup of one or more slices and the second subgroup of one or more slices.
11 . The system of claim 10 wherein the number of timing overlaps that are in addition to the timing overlaps associated with the first subgroup of one or more slices and the second subgroup of one or more slices is based on a total number of layers of slices in the one or more reflected pulses.
12 . The system of claim 1 , wherein the one or more processors are further configured to use the determined slices to reconstruct the one or more reflected pulses including by being configured to realign the determined slices among the one or more reflected pulses.
13 . The system of claim 1 , wherein the one or more processors are further configured to use the determined slices to reconstruct the one or more reflected pulses including by being configured to detect an inflection fused pulse pattern comprising two fused pulses in which the inflection fused pulse pattern rises monotonically from a baseline of the inflection fused pulse pattern to a peak of the inflection fused pulse pattern.
14 . The system of claim 13 , wherein the one or more processors are further configured to use the determined slices to reconstruct the one or more reflected pulses including by being configured to split the inflection fused pulse pattern.
15 . The system of claim 1 , wherein the signal transmitter includes a light source.
16 . The system of claim 1 , wherein the emitted signal pulse includes a laser pulse.
17 . The system of claim 1 , wherein the signal transmitter and the signal receiver are included in a vehicle.
18 . The system of claim 1 , wherein the plurality of comparators are connected in parallel to an amplifier configured to output a voltage signal.
19 . A method, comprising:
configuring a signal transmitter to emit a signal pulse;
configuring a signal receiver to receive one or more reflected pulses of the emitted signal pulse, wherein the signal receiver includes a plurality of comparators configured to sample the one or more reflected pulses at different intensity threshold levels to determine a group of slices representative of the received one or more reflected pulses, wherein each slice of at least a portion of the group of slices identifies a corresponding timing of when at least a portion of the received one or more reflected pulses met a corresponding intensity threshold level; and
configuring one or more processors to use the determined slices to reconstruct the one or more reflected pulses including by: computing a cost matrix based on analyzing timing overlaps between a first subgroup of one or more slices of the determined slices at a first threshold level of the different intensity threshold levels and a second subgroup of one or more slices of the determined slices at a second threshold level of the different intensity threshold levels, and reconstructing the one or more reflected pulses based on the computed cost matrix.
20 . A computer program product embodied in a non-transitory computer readable medium and comprising computer instructions for:
causing a signal transmitter to emit a signal pulse;
causing a signal receiver to receive one or more reflected pulses of the emitted signal pulse, wherein the signal receiver includes a plurality of comparators configured to sample the one or more reflected pulses at different intensity threshold levels to determine a group of slices representative of the received one or more reflected pulses, wherein each slice of at least a portion of the group of slices identifies a corresponding timing of when at least a portion of the received one or more reflected pulses met a corresponding intensity threshold level; and
using the determined slices to reconstruct the one or more reflected pulses including by: computing a cost matrix based on analyzing timing overlaps between a first subgroup of one or more slices of the determined slices at a first threshold level of the different intensity threshold levels and a second subgroup of one or more slices of the determined slices at a second threshold level of the different intensity threshold levels, and reconstructing the one or more reflected pulses based on the computed cost matrix.