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: 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 method for classifying an object in a point cloud includes computing first and second classification statistics for one or more points in the point cloud. Closest matches are determined between the first and second classification statistics and a respective one of a set of first and second classification statistics corresponding to a set of N classes of a respective first and second classifier, to estimate the object is in a respective first and second class. If the first class does not correspond to the second class, a closest fit is performed between the point cloud and model point clouds for only the first and second classes of a third classifier. The object is assigned to the first or second class, based on the closest fit within near real time of receiving the 3D point cloud. A device is operated based on the assigned object class.

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 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: Laser 3D imaging techniques include splitting a laser temporally-modulated waveform of bandwidth B and duration D from a laser source into a reference beam and a target beam and directing the target beam onto a target. First data is collected, which indicates amplitude and phase of light relative to the reference beam received at each of a plurality of different times during a duration D at each optical detector of an array of one or more optical detectors perpendicular to the target beam. Steps are repeated for multiple sampling conditions, and the first data for the multiple sampling conditions are synthesized to form one or more synthesized sets. A 3D Fourier transform of each synthesized set forms a digital model of the target for each synthesized set with a down-range resolution based on the bandwidth B.

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: Laser 3D imaging techniques include splitting a laser temporally-modulated waveform of bandwidth B and duration D from a laser source into a reference beam and a target beam and directing the target beam onto a target. First data is collected, which indicates amplitude and phase of light relative to the reference beam received at each of a plurality of different times during a duration D at each optical detector of an array of one or more optical detectors perpendicular to the target beam. Steps are repeated for multiple sampling conditions, and the first data for the multiple sampling conditions are synthesized to form one or more synthesized sets. A 3D Fourier transform of each synthesized set forms a digital model of the target for each synthesized set with a down-range resolution based on the bandwidth B.

Abstract: A method and apparatus includes an optical source for a single order single-sideband suppressed-carrier optical signal with a bandwidth that scales from over 4 gigaHertz or is at least 8 GHz from an optical carrier frequency. In an example embodiment, an apparatus includes a stable laser source configured to output an optical carrier signal at a carrier frequency. The apparatus includes a radio frequency electrical source configured to output an electrical radio frequency signal with a radio frequency bandwidth less than one octave. The apparatus also includes an optical modulator configured to output an optical signal with the optical carrier signal modulated by the radio frequency signal in a plurality of orders (harmonics) of optical frequency sidebands. The apparatus further includes an optical filter configured to pass one single order optical frequency sideband of the optical signal, which sideband does not overlap the sideband of any other harmonic.

Abstract: A method and apparatus are described including a laser with a plurality of internal or external actuators for affecting an optical frequency of light output by the laser, wherein the plurality of actuators have a corresponding plurality of different frequency response bands for changing optical properties of the laser and a corresponding plurality of actuation ranges of optical frequencies affected. Also included is an optical detector, and a plurality of optical paths configured to direct light output by the laser onto the detector. A laser controller is configured to provide a plurality of inputs to the plurality of actuators based on a detector signal output from the optical detector and the corresponding frequency response bands and actuation ranges.

Abstract: Laser 3D imaging techniques include splitting a laser temporally-modulated waveform of bandwidth B and duration D from a laser source into a reference beam and a target beam and directing the target beam onto a target. First data is collected, which indicates amplitude and phase of light relative to the reference beam received at each of a plurality of different times during a duration D at each optical detector of an array of one or more optical detectors perpendicular to the target beam. Steps are repeated for multiple sampling conditions, and the first data for the multiple sampling conditions are synthesized to form one or more synthesized sets. A 3D Fourier transform of each synthesized set forms a digital model of the target for each synthesized set with a down-range resolution based on the bandwidth B.

Abstract: A method and apparatus includes an optical source for a single order single-sideband suppressed-carrier optical signal with a bandwidth that scales from over 4 gigaHertz or is at least 8 GHz from an optical carrier frequency. In an example embodiment, an apparatus includes a stable laser source configured to output an optical carrier signal at a carrier frequency. The apparatus includes a radio frequency electrical source configured to output an electrical radio frequency signal with a radio frequency bandwidth less than one octave. The apparatus also includes an optical modulator configured to output an optical signal with the optical carrier signal modulated by the radio frequency signal in a plurality of orders (harmonics) of optical frequency sidebands. The apparatus further includes an optical filter configured to pass one single order optical frequency sideband of the optical signal, which sideband does not overlap the sideband of any other harmonic.

Abstract: A method and apparatus includes an optical source for a single order single-sideband suppressed-carrier optical signal with a bandwidth that scales from over 1 gigaHertz to greater than 20 gigaHertz. In an example embodiment, an apparatus includes a stable laser source configured to output an optical carrier signal at a carrier frequency. The apparatus includes a radio frequency electrical source configured to output an electrical radio frequency signal with a radio frequency bandwidth less than one octave. The apparatus also includes an optical modulator configured to output an optical signal with the optical carrier signal modulated by the radio frequency signal in a plurality of orders of optical frequency sidebands. The apparatus further includes an optical filter configured to pass one single order optical frequency sideband of the optical signal.

Abstract: A method and apparatus are described including a laser with a plurality of internal or external actuators for affecting an optical frequency of light output by the laser, wherein the plurality of actuators have a corresponding plurality of different frequency response bands for changing optical properties of the laser and a corresponding plurality of actuation ranges of optical frequencies affected. Also included is an optical detector, and a plurality of optical paths configured to direct light output by the laser onto the detector. A laser controller is configured to provide a plurality of inputs to the plurality of actuators based on a detector signal output from the optical detector and the corresponding frequency response bands and actuation ranges.

Abstract: A method, apparatus and computer-readable storage medium are described for a tunable laser source that produces a desired frequency modulated optical waveform with a precision within 0.01 percent over a bandwidth greater than about 50 gigaHertz. An apparatus includes a tunable laser having one or more drive inputs for affecting an optical frequency of light output by the laser; and an optical detector. Multiple optical paths are configured to direct light output by the laser onto the optical detector. A laser controller is configured to provide to a drive input a loopback signal based on a measured or predetermined difference in optical dispersion among the plurality of optical paths and a detector signal output from the optical detector. In some embodiments, a ranging device includes the tunable laser source.

Abstract: A method, apparatus and computer-readable storage medium are described for a tunable laser source that produces a desired frequency modulated optical waveform with a precision within 0.01 percent over a bandwidth greater than about 50 gigaHertz. An apparatus includes a tunable laser having one or more drive inputs for affecting an optical frequency of light output by the laser; and an optical detector. Multiple optical paths are configured to direct light output by the laser onto the optical detector. A laser controller is configured to provide to a drive input a loopback signal based on a measured or predetermined difference in optical dispersion among the plurality of optical paths and a detector signal output from the optical detector. In some embodiments, a ranging device includes the tunable laser source.

Abstract: A method and apparatus includes an optical source for a single order single-sideband suppressed-carrier optical signal with a bandwidth that scales from over 1 gigaHertz to greater than 20 gigaHertz. In an example embodiment, an apparatus includes a stable laser source configured to output an optical carrier signal at a carrier frequency. The apparatus includes a radio frequency electrical source configured to output an electrical radio frequency signal with a radio frequency bandwidth less than one octave. The apparatus also includes an optical modulator configured to output an optical signal with the optical carrier signal modulated by the radio frequency signal in a plurality of orders of optical frequency sidebands. The apparatus further includes an optical filter configured to pass one single order optical frequency sideband of the optical signal.

Abstract: Techniques for detecting optical spectral properties of a target are described. The technique includes providing an optical carrier which has an optical frequency bandwidth which is narrow compared to the width of the narrowest spectral feature of the target to be determined. This optical carrier is then electro-optically modulated with an RF frequency chirp, creating an optical chirp probe beam with a frequency chirped optical spectrum having upper and lower frequency chirped sidebands that have amplitudes sufficient to be detected at a detector. The sidebands are frequency bands arranged symmetrically around the optical carrier frequency. The attributes of a sideband include a start frequency, bandwidth and chirp rate. A probe beam is generated with the sidebands and directed onto a target having a physical property with optical frequency dependence. An optical response signal resulting from an interaction between the probe beam and the target is detected.