Abstract: Described herein are various technologies pertaining to a sensor system for an autonomous vehicle (AV) that includes a single photon accelerated diode (SPAD) array. The SPAD array includes several pixels. A filter layer is arranged proximate the several pixels, where the filter layer includes color filter portions and unfiltered portions that are respectively aligned with first pixels of the SPAD array and second pixels of the SPAD array. A computing system determines both range to an object and information pertaining to color of the object based upon values read out from the pixels of the SPAD array.

Abstract: A component for diffusing light emitted by a laser source in a lidar system of an autonomous vehicle. The component comprises a component body. The component body comprises an aspheric lens shaped to direct laser illumination from a laser source in the lidar system to produce a particular illumination profile by directing a portion of the laser illumination to a part of a field of view of the lidar system. The component body further comprises an attachment structure configured for securing the component body to a printed circuit board of the lidar system. The attachment structure is further configured to space a central axis of the aspheric lens a distance from a central axis of the laser source in the lidar system.