Abstract: An electronically scanning emitter array that includes a two-dimensional array of light emitters arranged in k emitter banks. Each of the k emitter banks can include a subset of the light emitters in the two-dimensional array and can be independently operable to emit light from its subset of emitters. The electronically scanning emitter array can further include first and second capacitor banks coupled to provide energy to the two-dimensional array of light emitters and emitter array driving circuitry coupled to the first and second capacitor banks and to the k emitter banks. Each of the first and second capacitor banks can include at least one capacitor.

Abstract: A coaxial LiDAR system having a reduced adjustment complexity and reduced installation space includes a transmitter unit designed to emit LiDAR radiation, a receiver unit designed to detect incident LiDAR radiation, and an optical system for imaging LiDAR radiation, the radiation emitted by the transmitter unit and the radiation from the optical system incident upon the receiver unit being transmitted in collinear form, the emitting surface of the transmitter unit being situated outside of the focus of the imaging optical system.

Abstract: LiDAR system and methods discussed herein use a dispersion element or optic that has a refraction gradient that causes a light pulse to be redirected to a particular angle based on its wavelength. The dispersion element can be used to control a scanning path for light pulses being projected as part of the LiDAR's field of view. The dispersion element enables redirection of light pulses without requiring the physical movement of a medium such as mirror or other reflective surface, and in effect further enables at least portion of the LiDAR's field of view to be managed through solid state control. The solid state control can be performed by selectively adjusting the wavelength of the light pulses to control their projection along the scanning path.

Abstract: A dual lens assembly positioned along an optical receive path within a LiDAR system is provided. The dual lens assembly is constructed to reduce a numerical aperture of a returned light pulse and reduce a walk-off error associated with one or more mirrors of the LiDAR system.

Abstract: According to one embodiment, an optical deflection element includes a substrate and three or more electrodes. The substrate has an incidence plane which the laser light enters and an emission plane from which the laser light exits. The three or more electrodes are arranged on the substrate at first intervals in a first direction. Electrodes allow a surface acoustic wave having a first wavelength to be generated in the substrate by applying a voltage thereto. Wiring is provided such that a voltage is selectively applied to the electrodes at an interval between at least two electrodes. The electrodes allow a surface acoustic wave having a second wavelength to be generated in the substrate by applying a voltage selectively at second intervals.

Abstract: Embodiments discussed herein refer to LiDAR systems and methods that monitor for fault conditions that could potentially result in unsafe operation of a laser. The systems and methods can monitor for faulty conditions involving a transmitter system and movement of mirrors in a scanning system. When a fault condition is monitored, a shutdown command is sent to the transmitter system to cease laser transmission. The timing by which the laser should cease transmission is critical in preventing unsafe laser exposure, and embodiments discussed herein enable fault detection and laser shutoff to comply with laser safety standards.

Abstract: A position recognizing device according to one embodiments of the present disclosure includes a ranging point acquiring section, a region determining section, and a ranging point excluding section. The ranging point acquiring section is configured to acquire ranging point information in which distances to ranging points are associated with each of electromagnetic wave applying directions. The region determining section is configured to determine whether an object region that represents a region encompassed by joining ranging points that are in close proximity to one another exists at a position closer than a specific ranging point representing a certain ranging point among the ranging points. The ranging point excluding section is configured to define the ranging point in front of which the object region exists as a false image point at which no object actually exists and exclude the false image point from the ranging point information.

Abstract: A light detection and ranging system is disclosed. The system includes a first light source for sending a light signal and a photo detector for receiving a light signal from the surroundings of the system. A signal processing unit receives and processes the light signal to detect objects in the surroundings of the system. A control unit controls, particularly synchronizing, the first light source, the photo detector and/or the signal processing unit. The system further includes a test unit for testing the photo detector and the signal processing unit. The test unit a second light source for sending a test light signal within the system to the photo detector.

Abstract: A LiDAR system includes a light source and an arrayed micro-optic configured to receive light from the light source so as to produce and project a two-dimensional array of light spots on a scene. The LiDAR system also includes receiver optics having an array of optical detection sites configured so as to be suitable for establishing a one-to-one correspondence between light spots in the two-dimensional array and optical detection sites in the receiver optics. The LiDAR system further includes a birefringent prism and a lens. The LiDAR system may also include a mask placed in the light path between the birefringent prism and the receiver optics. Alternatively, the LiDAR system may include a controller programmed to activate or deactivate each optical detection site.

Abstract: A housing for a Time-of-Flight (ToF) range meter includes a wall structure defining a first optical beam path to an emitter of the ToF range meter, and a second optical beam path to a detector of the ToF range meter, and a transmissive optical diffusor configured to cover the beam path to at least one of said emitter and said detector. The housing may be connected to a ToF range meter into a ToF ranging device. Such a ToF ranging device where the ToF ranging device is directed to measure a distance to a reflector member to determine a distance which correlates to the weight of the selectively engaged weights.

Abstract: Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.

Abstract: To provide a signal generation apparatus that is used in a ToF camera system especially adopting an indirect system and can suppress occurrence of erroneous distance measurement caused by distance measurement of a same target by a plurality of cameras with a simple configuration. There is provided a signal generation apparatus including a first pulse generator configured to generate a pulse to be supplied to a light source that irradiates light upon a distance measurement target, a second pulse generator configured to generate a pulse to be supplied to a pixel that receives the light reflected by the distance measurement target, and a signal generation section configured to generate a pseudo-random signal for inverting a phase of signals to be generated by the first pulse generator and the second pulse generator.

Abstract: In one embodiment, a lidar system includes a light source configured to emit multiple optical signals directed into a field of regard of the lidar system. The optical signals include a first optical signal and a second optical signal, where the second optical signal is emitted a particular time interval after the first optical signal is emitted. The lidar system also includes a receiver configured to detect a received optical signal that includes a portion of the emitted first or second optical signal that is scattered by a target located a distance from the lidar system. The received optical signal is detected after the second optical signal is emitted. The receiver includes a first detector configured to detect a first portion of the received optical signal and a second detector configured to detect a second portion of the received optical signal.

Abstract: A method for determining an ROI in medical imaging may include receiving first position information related to a body contour of a subject with respect to a support from a flexible device configured with a plurality of position sensors. The flexible device may be configured to conform to the body contour of the subject, and the support may be configured to support the subject. The method may also include generating a 3D model of the subject based on the first position information. The method may further include determining an ROI of the subject based on the 3D model of the subject.

Abstract: A method of operating a light detection and ranging (LIDAR) system is provided that includes generating a beam of co-propagating, cross-polarized light using a first polarizing beam splitter; and determining a material characteristic or orientation of a target using the co-propagating, cross-polarized light.

Abstract: A time-of-flight ranging system disclosed herein includes a receiver asserting a photon received signal in response to detection of light that has reflected off a target and returned to the time-of-flight ranging system. A first latch circuit has first and second data inputs receiving a first pair of differential timing references, the first latch circuit latching data values at its first and second data inputs to first and second data outputs based upon assertion of the photon received signal. A first counter counts latching events of the first latch circuit during which the first data output is asserted, and a second counter counts latching events of the first latch circuit during which the second data output is asserted. Processing circuitry determines distance to the target based upon counted latching events output from the first and second counters.

Abstract: Laser scanner monitors region in front of an opening. Monitoring region is delimited by a frame, in front of which an edge region is located. Propagation time sensing means determines position of an object in the monitoring region by a propagation time measurement of laser pulse, an evaluation unit being provided, by means of which first object information is produced, whether an object was sensed by the propagation time measurement. An intensity sensing means evaluating received laser pulse with respect to the intensity thereof and the sensed intensity is compared with a reference intensity stored in a memory unit. Second object information being provided in the event of deviation beyond a certain threshold value, whether an object is located in the hazard edge region on the basis of the intensity deviation. A “safety signal” generated by the evaluation unit if first or second object information is positive.

Abstract: A multiple-pulses-in-air (MPiA) laser scanning system, wherein the MPiA problem is addressed in that an MPiA assignment of return pulses to send pulses of a laser scanner is based on range tracking and range probing at intermittent points in time. Each range probing comprises a time-of-flight arrangement which is constructed to be free of the MPiA problem. The invention further relates to an MPiA laser scanning system, wherein an MPiA ambiguity within a time series of return pulses, is converted into 3D point cloud space, which provides additional information from the spatial neighborhood of the points in question to enable MPiA disambiguation.

Abstract: A method for scanning and measuring using a 3D measurement device is provided. The method includes providing the 3D measurement device having a light emitter, a light receiver and a command and evaluation device. The 3D measurement device is further includes a first near-field communication (NFC) device having a first antenna. A second NFC device having a second antenna is positioned adjacent the 3D measurement device. An NFC link is established between the first NFC device and the 3D measurement device. An identifier is transmitted from the second NFC device to the 3D measurement device. It is determined that the second NFC device is authorized to communicate with the 3D measurement device. Commands are transferred to the 3D measurement device from the second NFC device based at least in part on the determination that the second NFC device is authorized to communicate with the 3D measurement device.

Abstract: A distance measuring light projecting module comprises a light receiving module for receiving a reflected distance measuring light and a background light, a distance measuring unit for receiving the reflected distance measuring light and performs a distance measurement, an image pickup module for receiving the background light and for acquiring a background image, an optical axis deflector for integrally deflecting an optical axis of the distance measuring light and an optical axis of the background light, and an arithmetic control module for controlling the optical axis deflector, wherein the optical axis deflector has a rotary driving module for rotating a pair of disk prisms individually, and a projecting direction detecting module for detecting a rotation angle of each of the disk prisms.

Abstract: Method and system for performing ranging operation are provided. In one example, a transmitter is configured to transmit a first signal having a first signal level and a second signal having a second signal level, the second signal being transmitted after the first signal, the first signal and the second signal being separated by a time gap configured based on a minimum distance of a range of distances to be measured by the LiDAR module. The first signal level and the second signal level are configured based on the range of distances to be measured by the LiDAR module, a range of levels of reflectivity of a target object to be detected by the LiDAR module, and a dynamic range of a receiver circuit to receive the first signal and the second signal. Ranging operation can be performed based on the time-of-flight of at least one of the first signal or the second signal.

Abstract: A method for measuring a distance to a target in a multi-user environment, comprising: irradiating the environment by a series of light pulses, wherein this series of light pulses is emitted by a battery of at least two or a single light source device emitting on at least two different wavelengths, the light pulses being emitted at a determined repetition rate and with a determined randomly selected wavelength; collecting pulses reflected or scattered from the environment to at least one detector equipped with a wavelength filter whose pass band corresponds to the selected emitted wavelength; assigning a timestamp at the detection of a pulse by at least one chronometer connected to the detector, said timestamps corresponding to the time of arrival (TOA); determining the statistical distribution of said time of arrivals; determining the distance to the target from said statistical distribution.

Abstract: A device for receiving light having at least one wavelength for the detection of an object, includes: an optical phased array including a plurality of optical phased sub-arrays, each optical phased sub-array including (a) a plurality of antennas and (b) a detector for coherently receiving light; and an evaluation unit connected to the optical phased sub-arrays and configured to determine the angle at which the object is detected.

Abstract: Embodiments discussed herein refer to generating multiple laser beams from a single beam source. Single source multi-beam splitters can produce multiple beams from a single source, precisely control the exit angle of each beam, and ensure that each beam has substantially the same intensity.

Abstract: A distance measuring device includes a light emitter; a light receiver; a protection cover that is located on an optical path between the light emitter and the light receiver; a mode switch that switches between a first mode and a second mode; a distance calculator that calculates a distance from a target object based on a difference between a time when light is emitted from the light emitter and a time when reflected light is received by the light receiver in the first mode; and an LD light emission intensity adjuster that adjusts a light emission intensity of the light emitter. The adjustment is performed such that a light emission intensity of the light emitter in the second mode is lower than a light emission intensity of the light emitter in the first mode.

Abstract: A lidar sensing system for a vehicle includes a sensor module having a laser unit, a sensor unit, and a cover unit. The laser unit includes a housing with reference surfaces machined thereat for positioning laser tubes. The laser unit includes a tension spring that urges the laser tubes against the reference surfaces of the housing. The sensor unit includes a holder with reference surfaces machined thereat for positioning receiver tubes. The sensor unit includes a tension spring that urges the receiver tubes against the reference surfaces of the holder. The holder is attached at the housing and the cover unit is attached at the housing. An output of the sensor module is communicated to a control that, responsive to the output of the sensor module, determines the presence of one or more objects exterior the vehicle and within the field of sensing of the sensor module.

Abstract: [Object] To uniformly produce electric fields when performing thinning processing of generating electric fields in only some of a plurality of pixels. [Solution] There is provided an imaging apparatus including: a pair of electric field application electrodes and a pair of electric charge extraction electrodes provided to each of a plurality of pixels; and a voltage application section configured to apply voltage between a first electrode that is one of the pair of electric field application electrodes of a first pixel and a second electrode that is one of the pair of electric field application electrodes of a second pixel when pixel combination is performed, and produce an electric field across the first pixel and the second pixel.

Abstract: There is provided a distance measurement device that can appropriately detect a distance to an object regardless of the distance. The distance measurement device includes a laser light source, a photodetector, and a controller. The controller performs a long-distance routine that detects timing for receiving light when an object is at a long distance, and a short-distance routine that detects the timing for receiving light when the object is at a short distance, based on a detection signal output from the photodetector during one distance measurement operation. The controller then selects one of a detection result of the timing for receiving light by the long-distance routine and a detection result of the timing for receiving light by the short-distance routine, and calculates the distance to the object irradiated with projection light based on the selected detection result.

Abstract: Time of flight device and method are provided. A light-emitting module emits a first light pulse to a sensing target, and a sensing unit receives and integrates a first reflected light pulse of the sensing target. A processing circuit reads an image parameter of the sensing target through a readout circuit. The light-emitting module emits a second light pulse to the sensing target, and the sensing unit receives a second reflected light pulse of the sensing target. The processing circuit obtains a distance parameter between the sensing target and the time of flight device according to a time when the readout circuit reads the second reflected light pulse of the sensing unit. The processing circuit obtains a reflectivity of the sensing target according to the image parameter and a look-up table, and obtains a corrected distance parameter of the sensing target by correcting the distance parameter according to the reflectivity.

Abstract: A lidar system identifies anomalous optical pulses received by the lidar system. The lidar system includes a light source configured to output a plurality of transmitted pulses of light, each transmitted pulse of light having one or more representative characteristics, a scanner configured to direct the plurality of transmitted pulses of light to a plurality of locations within a field of regard, and a receiver configured to detect a plurality of received pulses of light from the field of regard. The lidar system is configured to identify an anomalous pulse amongst the plurality of received pulses of light based on its having at least one characteristic that does not correspond to the one or more representative characteristics of the plurality of transmitted pulses of light.

Abstract: A LIDAR system, preferably including one or more: optical emitters, optical detectors, beam directors, and/or processing modules. A method of LIDAR system operation, preferably including: determining a signal, outputting the signal, receiving a return signal, and/or analyzing the return signal.

Abstract: The present application provides a time-of-flight distance measuring system (10), including a delay unit (12) configured to generate a plurality of delayed pulses according to a plurality of delay signals, wherein the plurality of delay signals correspond to a plurality of delay times; a light-emitting unit (13), configured to generate a plurality of delayed pulsed lights according to the plurality of delayed pulses; a photosensitive pixel circuit (14), configured to receive a plurality of delayed reflected lights to generate a plurality of pixel signals; a storage unit (16), configured to store a correspondence between the plurality of delay times and the plurality of pixel signals; and a control unit (18), configured to generate the plurality of delay signals; wherein, the time-of-flight distance measuring system performs a time-of-flight distance measuring according to the correspondence between the plurality of delay times and the plurality of pixel signals.

Abstract: Various embodiments of the present invention are directed towards a system and methods for generating three dimensional (3D) images with increased composite vertical field of view and composite resolution for a spinning three-dimensional sensor, based on actuating the sensor to generate a plurality of sensor axis orientations as a function of rotation of the actuator. The output data from the sensor, such as a spinning LIDAR, is transformable as a function of the actuator angle to generate three dimensional imagery.

Abstract: A method for scanning a transmitted beam through a 360° FOV in a LIDAR system using no moving parts. The method includes generating a laser beam, frequency modulating the laser beam, and directing the frequency modulated laser beam to a spiral phase plate resonator (SPPR) device. The method further includes directing the beam from the SPPR device onto a conical mirror, and receiving a reflected beam from the target. The method mixes and correlates the transmitted beam and the reflected beam, calculates a fast Fourier transform of signals representing the mixed transmitted and reflected beams, determines beat frequencies in the mixed and transformed signals, identifies intermediate frequencies in the beat frequencies, estimates a time delay between the transmitted beam and the reflected beam from the beat frequencies to determine the distance to the target, and determines a Doppler frequency from the beat frequencies to determine the velocity of the target.

Abstract: A method of determining a temporal position of a received signal within a sample series is disclosed. The method includes sampling a sensor at a sampling frequency to generate the sample series. A matched filter set of matched filters is applied to the sample series to generate a matched filter correlation set of matched filter correlations, wherein impulse responses of respective matched filters correspond to a template signal at the sampling frequency of the sensor shifted by a sub-interval shift. The matched filter correlations are evaluated to determine a received signal sub-interval shift. The temporal position of the received signal within the sample series is determined based on at least the received signal sub-interval shift.

Abstract: In one embodiment, a lidar system includes a light source configured to emit a pulse of light and a scanner configured to direct the emitted pulse of light into a field of regard of the lidar system. The lidar system also includes a receiver configured to receive a portion of the emitted pulse of light scattered by a target located a distance from the lidar system. The receiver includes a digital micromirror device (DMD) that includes a two-dimensional array of electrically addressable micromirrors, where a portion of the micromirrors are configured to be set to an active-on state to direct the received pulse of light to a detector array. The detector array includes a two-dimensional array of detector elements, where the detector array is configured to detect the received pulse of light and produce an electrical signal corresponding to the received pulse of light.

Abstract: A ROIC can perform systolic processing of light detectors. The ROIC performs the systolic processing of the light detectors to capture at least i) when, in time units, an initial photon of its reflected light pulse is captured by each of the light detectors in the array, ii) where geographically in terms of column and row address of the light detector capturing its photon is located in the array, iii) scan out data captured by the light detectors on the when in time units, and the where geographically that the photon was captured in a given light detector in the array, and then iv) analyze the data on the when and the where with an algorithm to know exactly when exactly, in terms of time units, the photon was captured relative to the input from the clock circuit in order to determine an objects characteristics.

Abstract: Methods and systems for combining return signals from multiple channels of a LIDAR measurement system are described herein. In one aspect, the outputs of multiple receive channels are electrically coupled before input to a single channel of an analog to digital converter. In another aspect, a DC offset voltage is provided at the output of each transimpedance amplifier of each receive channel to improve measured signal quality. In another aspect, a bias voltage supplied to each photodetector of each receive channel is adjusted based on measured temperature to save power and improve measurement consistency. In another aspect, a bias voltage supplied to each illumination source of each transmit channel is adjusted based on measured temperature. In another aspect, a multiplexer is employed to multiplex multiple sets of output signals of corresponding sets of receive channels before analog to digital conversion.

Abstract: A system including: a light source, a switchable diffuser, a structured light detector, and a ToF detector. The light source and switchable diffuser are controlled to operate in concert (together, and/or with other optical and electrical elements of the system) to project pulses of collimated beams of light (interleaved between pulses of flood light) during a single image capture period, the pulses of collimated beams of light being resolvable by the structured light detector and the ToF detector within the same image capture period.

Abstract: A Slope Stability Lidar that directs a beam of optical radiation into an area on a point by point basis, each point having an elevation and azimuth and a processor that acquires data and processes the data to compile direction data, range data and amplitude data for each point, segments the acquired data into blocks of data defining a voxel, averaging the acquired range data within the voxel to produce a precise voxel range value for each voxel, comparing voxel range values over time to identify movement and generating an alert if movement exceeds a threshold.

Abstract: Display devices and electronic apparatuses with 3D camera modules are provided. An exemplary device comprises a display and a 3D camera module, wherein the 3D camera module comprises a depth camera module disposed at a backlight side of the display; the depth camera module comprises an edge-emitting laser and an imaging module; the edge-emitting laser is configured for emitting laser light, for the emitted laser light to penetrate the display to reach an object; and the imaging module is configured for receiving laser light reflected by the object that penetrates the display, and obtaining a depth image of the object based on the reflected laser light.

Abstract: A computing system may operate a LIDAR device to emit and detect light pulses in accordance with a time sequence including standard detection period(s) that establish a nominal detection range for the LIDAR device and extended detection period(s) having durations longer than those of the standard detection period(s). The system may then make a determination that the LIDAR detected return light pulse(s) during extended detection period(s) that correspond to particular emitted light pulse(s). Responsively, the computing system may determine that the detected return light pulse(s) have detection times relative to corresponding emission times of particular emitted light pulse(s) that are indicative of one or more ranges. Given this, the computing system may make a further determination of whether or not the one or more ranges indicate that an object is positioned outside of the nominal detection range, and may then engage in object detection in accordance with the further determination.

Abstract: A method is disclosed to determine a traveling time for a plurality of received light pulses that reflected and returned from an object. Each returned light pulse is associated with a timestamp indicating a time between a transmission time of a corresponding light pulse and a time of arrival of the returned light pulse. For each timestamp, a number C is determined of time stamps that are subsequent to the timestamp and within a predetermined time window after the timestamp. A maximum number C is determined, and an index i is determined for the maximum number C. A traveling time is determined for the plurality of light pulses as an average of the timestamp having a same index as the maximum number C and timestamps that are within the predetermined time window after the timestamp having the same index as the maximum number C.

Abstract: A light detection and ranging (LIDAR) system encodes a frequency modulation (FM) modulated signal with a time of flight (TOF) signal as a power and frequency modulated signal. The system can emit the power and frequency modulated signal and apply processing to a signal reflection to generate a target point set. The target point set processing can include frequency processing to generate target points based on range and Doppler information, and TOF processing to provide TOF range information. The LIDAR system can include a modulator to AM modulate an FM modulated light signal with a passive modulator to provide the TOF signal information with the FM modulated signal as the power and frequency modulated signal.

Abstract: Embodiments of the present disclosure include techniques for synchronizing certain components within a light scanning system in order to align periodicities and efficiently produce more reliable scan frames. For instance, embodiments include an optical source to transmit an optical beam modulated at a first periodicity, and an optical scanner to direct the optical beam at a second periodicity, and a signal processing system to perform periodic temporal alignments between the first periodicity and the second periodicity to produce stable grid points in region of interest (ROI). The system effectively removes the unaligned grid points and can be applied to any light detection and ranging (LiDAR) systems or other optical scanning applications.

Abstract: A LIDAR system includes one or more LIDAR sensor assemblies, which may be mounted to a vehicle or other object. Each LIDAR sensor assembly includes a laser light source to emit laser light, and a light sensor to produce a light signal in response to sensing reflected light corresponding to reflection of the laser light emitted by the laser light source from a reference surface that is fixed in relation to the LIDAR sensor assembly. A controller of the LIDAR sensor assembly may calibrate the LIDAR sensor assembly based at least in part on a signal from the light sensor indicating detection of reflected light corresponding to reflection of a pulse of laser light reflected from the reference surface.

Abstract: A laser scanner includes multiple measuring beams for optical surveying of an environment. The laser scanner is configured to provide scanning with at least two different multi-beam scan patterns, in which each multi-beam scan pattern is individually activatable by a computing unit of the laser scanner.

Abstract: A calibration system for calibrating a LIDAR sensing system of a vehicle includes a plurality of light reflecting targets disposed at a ground surface at an end of line calibration region of a vehicle assembly facility. The light reflecting targets are arranged at the ground surface in a predetermined pattern. When a vehicle equipped with a LIDAR sensing system is at the calibration region, the light reflecting targets are in the field of sensing of at least one LIDAR sensor of the LIDAR sensing system of the vehicle. Responsive to processing of data sensed by the at least one LIDAR sensor, the calibration system determines the locations of the light reflecting targets and determines misalignment of the LIDAR sensor and calibrates the LIDAR sensing system to accommodate the determined misalignment.

Abstract: A distance measuring device according to an embodiment includes a time acquisition circuit and a distance measurement circuit. The time acquisition circuit acquires a rising time in which a measurement signal obtained by converting reflected light of a laser beam from an object into a signal reaches a first threshold and a falling time in which the measurement signal reaches a second threshold after reaching the first threshold. The distance measurement circuit measures the distance to a target object on the basis of a time difference between timing based on the rising time and the falling time and irradiation timing of the laser beam.

Abstract: A point data acquisition unit acquires a set of point data indicating reflection points obtained by an optical sensor that receives reflected light of an emitted light beam reflected at the reflection points. Point data is a pair of first point data indicating a first reflection point, which is a reflection point of a given light beam, and second point data indicating a second reflection point, which is a reflection point at which the intensity of reflected light of the given light beam is lower than that at the first reflection point. A fog determination unit determines the density of fog based on a distribution of a distance between the first reflection point and the second reflection point concerning the point data included in the acquired set.