Abstract: Techniques for Doppler correction of chirped optical range detection include obtaining a first set of ranges based on corresponding frequency differences between a return optical signal and a first chirped transmitted optical signal with an up chirp that increases frequency with time. A second set of ranges is obtained based on corresponding frequency differences between a return optical signal and a second chirped transmitted optical signal with a down chirp. A matrix of values for a cost function is determined, one value for each pair of ranges that includes one in the first set and one in the second set. A matched pair of one range in the first set and a corresponding one range in the second set is determined based on the matrix. A Doppler effect on range is determined based on combining the matched pair of ranges. A device is operated based on the Doppler effect.

Abstract: A system and method for vehicle odometry using coherent range Doppler optical sensors. The system and method includes operating a Doppler light detection and ranging (LIDAR) system to collect raw point cloud data that indicates for a point a plurality of dimensions, wherein a dimension of the plurality of dimensions includes an inclination angle, an azimuthal angle, a range, or a relative speed between the point and the LIDAR system; determining a corrected velocity vector for the Doppler LIDAR system based on the raw point cloud data; and producing revised point cloud data that is corrected for the velocity of the Doppler LIDAR system.

Abstract: A system and method for vehicle odometry using coherent range Doppler optical sensors. The system and method includes operating a Doppler light detection and ranging (LIDAR) system to collect raw point cloud data that indicates for a point a plurality of dimensions, wherein a dimension of the plurality of dimensions includes an inclination angle, an azimuthal angle, a range, or a relative speed between the point and the LIDAR system; determining a corrected velocity vector for the Doppler LIDAR system based on the raw point cloud data; and producing revised point cloud data that is corrected for the velocity of the Doppler LIDAR system.

Abstract: Doppler correction of phase-encoded LIDAR includes a code indicating a sequence of phases for a phase-encoded signal, and determining a first Fourier transform of the signal. A laser optical signal is used as a reference and modulated based on the code to produce a transmitted phase-encoded optical signal. A returned optical signal is received in response. The returned optical signal is mixed with the reference. The mixed optical signals are detected to produce an electrical signal. A cross spectrum is determined between in-phase and quadrature components of the electrical signal. A Doppler shift is based on a peak in the cross spectrum. A device is operated based on the Doppler shift. Sometimes a second Fourier transform of the electrical signal and the Doppler frequency shift produce a corrected Fourier transform and then a cross correlation. A range is determined based on a peak in the cross correlation.

Abstract: Ranging and detection data is processed to identify or correct for multipath reflection. A sensor point that represents a location of an object, the location based on an incidence of an electromagnetic wave received at a sensor is obtained. The first sensor point is determined to be a product of multipath reflection. A first point of reflection on a surface of a surface model is determined. The location of the first sensor point is corrected based on the first point of reflection on the surface of the surface model.

Abstract: Ranging and detection data is processed to identify or correct for multipath reflection. A sensor point that represents a location of an object, the location based on an incidence of an electromagnetic wave received at a sensor is obtained. The first sensor point is determined to be a product of multipath reflection. A first point of reflection on a surface of a surface model is determined. The location of the first sensor point is corrected based on the first point of reflection on the surface of the surface model.

Abstract: Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

Abstract: Techniques for Doppler correction of chirped optical range detection include obtaining a first set of ranges based on corresponding frequency differences between a return optical signal and a first chirped transmitted optical signal with an up chirp that increases frequency with time. A second set of ranges is obtained based on corresponding frequency differences between a return optical signal and a second chirped transmitted optical signal with a down chirp. A matrix of values for a cost function is determined, one value for each pair of ranges that includes one in the first set and one in the second set. A matched pair of one range in the first set and a corresponding one range in the second set is determined based on the matrix. A Doppler effect on range is determined based on combining the matched pair of ranges. A device is operated based on the Doppler effect.

Abstract: Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

Abstract: Techniques for Doppler correction of chirped optical range detection include obtaining a first set of ranges based on corresponding frequency differences between a return optical signal and a first chirped transmitted optical signal with an up chirp that increases frequency with time. A second set of ranges is obtained based on corresponding frequency differences between a return optical signal and a second chirped transmitted optical signal with a down chirp. A matrix of values for a cost function is determined, one value for each pair of ranges that includes one in the first set and one in the second set. A matched pair of one range in the first set and a corresponding one range in the second set is determined based on the matrix. A Doppler effect on range is determined based on combining the matched pair of ranges. A device is operated based on the Doppler effect.

Abstract: Doppler correction of phase-encoded LIDAR includes a code indicating a sequence of phases for a phase-encoded signal, and determining a first Fourier transform of the signal. A laser optical signal is used as a reference and modulated based on the code to produce a transmitted phase-encoded optical signal. A returned optical signal is received in response. The returned optical signal is mixed with the reference. The mixed optical signals are detected to produce an electrical signal. A cross spectrum is determined between in-phase and quadrature components of the electrical signal. A Doppler shift is based on a peak in the cross spectrum. A device is operated based on the Doppler shift. Sometimes a second Fourier transform of the electrical signal and the Doppler frequency shift produce a corrected Fourier transform and then a cross correlation. A range is determined based on a peak in the cross correlation.

Abstract: Techniques for adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and determining a range gate subset and a characteristic range. A fine angular resolution is based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum vertical angle and maximum vertical angle is determined for a horizontal slice of the subset of angular width based on the first angular resolution. The scanning laser ranging system is then operated to obtain second range measurements at the second angular resolution in the slice between the minimum vertical angle and the maximum vertical angle. In some embodiments, the scanning is repeated for each horizontal slice in the range gate subset using a minimum vertical angle and maximum vertical angle for that slice.

Abstract: Doppler correction of phase-encoded LIDAR includes a code indicating a sequence of phases for a phase-encoded signal, and determining a first Fourier transform of the signal. A laser optical signal is used as a reference and modulated based on the code to produce a transmitted phase-encoded optical signal. A returned optical signal is received in response. The returned optical signal is mixed with the reference. The mixed optical signals are detected to produce an electrical signal. A cross spectrum is determined between in-phase and quadrature components of the electrical signal. A Doppler shift is based on a peak in the cross spectrum. A device is operated based on the Doppler shift. Sometimes a second Fourier transform of the electrical signal and the Doppler frequency shift produce a corrected Fourier transform and then a cross correlation. A range is determined based on a peak in the cross correlation.

Abstract: An apparatus is provided for using a square wave digital chirp signal for optical chirp range detection. A laser source emits an optical signal and a RF waveform generator generates an input digital chirp signal based on the square wave digital chirp signal. A frequency of the optical signal is modulated based on the input digital chirp signal. A splitter divides the optical signal into a transmit optical signal and a reference optical signal. A detector combines the reference optical signal and a return optical signal from an object. The detector generates an electrical output signal based on the combined reference optical signal and the return optical signal. A processor determines a range to the object based on a characteristic of a Fourier transform the electrical output signal. A method is also provided for using the square wave digital chirp signal for optical chirp range detection.

Abstract: Ranging and detection data is processed to identify or correct for multipath reflection. A sensor point that represents a location of an object, the location based on an incidence of an electromagnetic wave received at a sensor is obtained. The first sensor point is determined to be a product of multipath reflection. A first point of reflection on a surface of a surface model is determined. The location of the first sensor point is corrected based on the first point of reflection on the surface of the surface model.

Abstract: Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

Abstract: Techniques for automatic adaptive scanning with a laser scanner include obtaining range measurements at a coarse angular resolution and forming a horizontally sorted range gate subset and a characteristic range. A fine angular resolution is determined automatically based on the characteristic range and a target spatial resolution. If the fine angular resolution is finer than the coarse angular resolution, then a minimum and maximum vertical angle is automatically determined in each horizontal slice extending a bin size from any previous horizontal slice. A set of adaptive minimum and maximum vertical angles is determined automatically by dilating and interpolating the minimum and maximum vertical angles of all the slices to the second horizontal angular resolution. A horizontal start angle, and the set of adaptive minimum and maximum vertical angles are sent to cause the ranging system to obtain measurements at the second angular resolution.

Abstract: A system and method for vehicle odometry using coherent range Doppler optical sensors. The system and method includes operating a Doppler light detection and ranging (LIDAR) system to collect raw point cloud data that indicates for a point a plurality of dimensions, wherein a dimension of the plurality of dimensions includes an inclination angle, an azimuthal angle, a range, or a relative speed between the point and the LIDAR system; determining a corrected velocity vector for the Doppler LIDAR system based on the raw point cloud data; and producing revised point cloud data that is corrected for the velocity of the Doppler LIDAR system.

Abstract: A system and method for vehicle odometry using coherent range Doppler optical sensors. The system and method includes operating a Doppler light detection and ranging (LIDAR) system to collect raw point cloud data that indicates for a point a plurality of dimensions, wherein a dimension of the plurality of dimensions includes an inclination angle, an azimuthal angle, a range, or a relative speed between the point and the LIDAR system; determining a corrected velocity vector for the Doppler LIDAR system based on the raw point cloud data; and producing revised point cloud data that is corrected for the velocity of the Doppler LIDAR system.

Abstract: A system and method for vehicle odometry using coherent range Doppler optical sensors. The system and method includes operating a Doppler light detection and ranging (LIDAR) system to collect raw point cloud data that indicates for a point a plurality of dimensions, wherein a dimension of the plurality of dimensions includes an inclination angle, an azimuthal angle, a range, or a relative speed between the point and the LIDAR system; determining a corrected velocity vector for the Doppler LIDAR system based on the raw point cloud data; and producing revised point cloud data that is corrected for the velocity of the Doppler LIDAR system.