Lidar sensor with embedded photodetector
A light sensor and apparatus capable of determining depth and image data simultaneously from a target in an environment is discussed herein. The apparatus includes an array of photodetector elements comprising a first portion to detect frequency modulated continuous wave (FMCW) signals from the reflected light signals and one or more additional portions that detect visible light signals from the environment.
1 . A light sensor comprising:
a light source outputting first light signals;
a lens arrangement receiving second light signals reflected from a target based on the first light signals, the lens arrangement comprising:
at least seven spheric elements;
an image circle of at least 12 millimeters; and
an effective focal length of at least 8 millimeters; and
an optical array receiving the second light signals via the lens arrangement, the optical array including:
an array of lidar sensing photodetector elements detecting frequency modulated continuous wave (FMCW) signals from the second light signals, and
visible light sensing photodetector elements in the array of lidar sensing photodetector elements detecting visible light signals from the second light signals.
2 . The light sensor of claim 1 , wherein the first light signals are output toward the target and wherein the second light signals are directed to the lidar sensing photodetector elements.
3 . The light sensor of claim 2 , further comprising one or more processors configured to:
determine, based at least in part on the second light signals and the FMCW signals, a frequency difference; and
determine, based at least in part on the frequency difference, a depth value.
4 . The light sensor of claim 1 , wherein the optical array is a monolithic optical array.
5 . The light sensor of claim 1 , wherein the lens arrangement comprises an aperture of F/5.45.
6 . The light sensor of claim 1 , wherein a first region of the array of lidar sensing photodetector elements is formed with germanium and a second region of the visible light sensing photodetector elements is formed with silicon.
7 . The light sensor of claim 1 , wherein the array of lidar sensing photodetector elements and the light sensing photodetector elements in the array of lidar sensing photodetector elements are co-located in a same sensor package.
8 . A method comprising:
emitting first light signals towards a target;
receiving, at a lens arrangement comprising at least seven spherical elements, second light signals reflected from the target based on the first light signals;
receiving, at an optical array and via the lens arrangement, the second light signals, the optical array including lidar sensing photodetector elements and visible light sensing photodetector elements;
detecting, by the lidar sensing photodetector elements, frequency modulated continuous wave (FMCW) signals from the second light signals; and
detecting, by the visible light sensing photodetector elements, visible light signals from the second light signals.
9 . The method of claim 8 , wherein the FMCW signals are first FMCW signals, the method further comprising outputting second FMCW signals, wherein:
a first portion of the second FMCW signals is output toward the target;
a second portion of the second FMCW signals is directed to the lidar sensing first photodetector elements; and
the first FMCW signal are based on the second FMCW signals.
10 . The method of claim 9 , further comprising:
determining, based at least in part on the second portion of the second FMCW signals and the FMCW signals, a frequency difference; and
determining, based at least in part on the frequency difference, a depth value.
11 . The method of claim 8 , wherein the lens arrangement comprises:
an image circle of at least 12 millimeters; and
an effective focal length of at least 8 millimeters.
12 . The method of claim 11 , wherein the lens arrangement comprises an aperture of F/5.45.
13 . The method of claim 8 , further comprising:
outputting a first output by the lidar sensing photodetector elements;
outputting a second output by the visible light sensing photodetector elements; and
determining, based at least in part on the first output and the second output, an object in an environment; and
controlling a vehicle in the environment based at least in part on the object.
14 . The method of claim 8 , further comprising:
capturing first sensor data using the optical array, wherein the first sensor data is associated with a first resolution;
receiving second sensor data from a light sensor, wherein the second sensor data is associated with a second resolution that is greater than the first resolution; and
associating the first sensor data and the second sensor data.