Abstract: Systems and methods are disclosed where a ladar system synthetically fills a ladar frame. A ladar transmitter can employ compressive sensing to interrogate a subset of range points in a field of view. Returns from this subset of range points correspond to a sparse ladar frame, and interpolation can be performed on these returns to synthetically fill the ladar frame.

Abstract: Disclosed herein is a ladar system that includes a ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. In an example embodiment, a mirror can be included in the optical path between a lens and photodetector in the ladar receiver, where the mirror (1) directs light within the light from the lens that corresponds to a first light spectrum in a first direction for reception by the camera and (2) directs light within the light from the lens that corresponds to a second light spectrum in a second direction for reception by the photodetector, wherein the second light spectrum includes ladar pulse reflections for processing by the ladar system.

Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a parameter value for use by the ladar system with respect to the new ladar pulse shot. Examples of such adaptively controlled parameter values can include shot energy, receiver parameters, shot selection, camera settings, and others.

Abstract: A ladar system and related method are disclosed where the ladar system comprises first and second receivers. The first receiver receives a ladar return from a ladar pulse with a known transmit polarization. The second receiver receives the ladar return from the ladar pulse with the known transmit polarization. The ladar system also includes a control circuit that (1) measures incident polarizations at the first and second receivers with respect to the received ladar return and (2) separates a retro-reflective portion of the received ladar return from a non-retro-reflective portion of the received ladar return based on the measured incident polarization and the known transmit polarization.

Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a control setting for use by a ladar system camera.

Abstract: A ladar system and related method are disclosed where the ladar system includes a sensor that senses background light levels. A control circuit of the ladar system (1) measures the sensed background light levels and (2) controllably adjusts a pulse duration for a new ladar pulse based on the measured background light levels. A ladar transmitter can then transmit the new ladar pulse, wherein the new ladar pulse has the adjusted pulse duration. In an example embodiment, this technique for adaptive pulse duration can be employed in the ladar system where the ladar transmitter and ladar receiver are arranged in a bistatic architecture.

Abstract: Disclosed herein is a compact beam scanner assembly that includes an ellipsoidal reimaging mirror.

Abstract: Disclosed herein are various embodiment of an adaptive ladar receiver and associated method whereby the active pixels in a photodetector array used for reception of ladar pulse returns can be adaptively controlled based at least in part on where the ladar pulses were targeted. Additional embodiments disclose improved imaging optics for use by the receiver and further adaptive control techniques for selecting which pixels of the photodetector array are used for sensing incident light.

Abstract: Disclosed herein are various embodiments of an adaptive ladar receiver and associated method whereby the active pixels in a photodetector array used for reception of ladar pulse returns can be adaptively controlled based at least in part on where the ladar pulses were targeted. Additional embodiments disclose improved imaging optics for use by the receiver and further adaptive control techniques for selecting which pixels of the photodetector array are used for sensing incident light.

Abstract: A ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses. For example, ladar pulses in a cluster can be spaced apart but overlapping with at least one of the other ladar pulses in that cluster at a specified distance in the field of view. A ladar receiver can then process the reflections from the cluster to computer intra-frame motion data, such as intra-frame velocity and intra-frame acceleration for an object.

Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help adapt a shot selection for use by the ladar system with respect to new ladar pulse shots.

Abstract: Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor's field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. The ladar system can perform compressive sensing to target the field of view with a plurality of ladar pulses.

Abstract: Various embodiments are disclosed ladar point cloud compression. For example, a processor can be used to analyze data representative of an environmental scene to intelligently select a subset of range points within a frame to target with ladar pulses via a scanning ladar transmission system. In another example embodiment, a processor can perform ladar point cloud compression by (1) processing data representative of an environmental scene, and (2) based on the processing, selecting a plurality of the range points in the point cloud for retention in a compressed point cloud, the compressed point cloud comprising fewer range points than the generated point cloud.

Abstract: Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.

Abstract: Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.

Abstract: Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where a dynamic scan pattern for a scanning ladar transmission system includes interline skipping and detouring.

Abstract: Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.

Abstract: Disclosed herein are a number of example embodiments that employ controllable delays between successive ladar pulses in order to discriminate between “own” ladar pulse reflections and “interfering” ladar pulses reflections by a receiver. Example embodiments include designs where a sparse delay sum circuit is used at the receiver and where a funnel filter is used at the receiver. Also, disclosed are techniques for selecting codes to use for the controllable delays as well as techniques for identifying and tracking interfering ladar pulses and their corresponding delay codes. The use of a ladar system with pulse deconfliction is also disclosed as part of an optical data communication system.

Abstract: Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where a scanning ladar transmission system employs a spiral dynamic scan pattern.

Abstract: Various embodiments are disclosed for improved scanning ladar transmission, including but not limited to an example embodiment where closed loop feedback control is used to finely control mirror scan positions.