CPC G01S 17/89 (2013.01) [G01S 7/484 (2013.01); G01S 7/4808 (2013.01); G01S 7/4814 (2013.01); G01S 7/4816 (2013.01); G01S 7/4817 (2013.01); G01S 7/4861 (2013.01); G01S 7/4863 (2013.01); G01S 17/006 (2013.01); G01S 17/10 (2013.01); G01S 17/58 (2013.01); G01S 17/93 (2013.01); G01S 17/931 (2020.01); G01S 17/46 (2013.01)] | 36 Claims |
23. An adaptive system comprising:
a ladar receiver configured to receive incident light and detect ladar returns from a plurality of ladar pulse shots based on the received incident light;
a memory configured to spatially index ladar return data for prior ladar pulse shots by location in a coordinate space, wherein the spatially indexed ladar return data comprises a tree structure having a root node, a plurality of branches, and a plurality of leaf nodes, wherein the leaf nodes associate the ladar return data with corresponding locations in the coordinate space; and
a processor configured to (1) traverse the tree structure based on a targeted location in the coordinate space for a new ladar pulse shot to identify leaf nodes in the tree structure that include ladar return data associated with locations in the coordinate space that are within a defined vicinity of the targeted location, (2) extract ladar return data from the identified leaf nodes, and (3) define a control parameter for the ladar receiver based on an analysis of the extracted ladar return data; and
wherein the ladar receiver is further configured to detect a ladar return for the new ladar pulse shot based on the defined control parameter.
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