Abstract: Disclosed are techniques for distinguishing potential obstacles from ground clutter using the signal-to-noise-ratio (SNR). A first set of points or group of points with a high SNR, at least partially surrounded by points with a low SNR, is classified as a potential obstacle. A second set of points or groups of points with a low SNR is classified as ground clutter.

Abstract: A sensor comprises two independently rotatable elements. The first element comprises facets in a polygonal configuration fully rotatable about a first axis at a first angle relative to a source's beam axis and redirects energy incident on a facet at a second angle to a facet plane at a reflected angle equal in magnitude to the second angle as the first element is rotated. The second element may be a wedge mirror fully and independently rotatable about a second axis at a third angle to the beam axis that redirects energy at a fourth angle to the second axis, in a direction within the FOV, receives reflected energy to the first element for redirection toward an element interposed between it and the source that allows the source energy to pass unimpeded, and on to a detector. Correlating data from the detector and the source determines the target range.