US 11,835,656 B2
Methods for scanning a LiDAR system in two dimensions
Jun Pei, Saratoga, CA (US); Mark A. McCord, Los Gatos, CA (US); Roger David Cullumber, Hollister, CA (US); Yupeng Cui, San Jose, CA (US); and Dongyi Liao, Mountain View, CA (US)
Assigned to Cepton Technologies, Inc., San Jose, CA (US)
Filed by Cepton Technologies, Inc, San Jose, CA (US)
Filed on Jan. 6, 2021, as Appl. No. 17/142,616.
Application 17/142,616 is a division of application No. 15/971,548, filed on May 4, 2018, granted, now 10,921,431.
Claims priority of provisional application 62/574,549, filed on Oct. 19, 2017.
Prior Publication US 2021/0141065 A1, May 13, 2021
Int. Cl. G01S 7/48 (2006.01); G01S 7/481 (2006.01); G01S 17/42 (2006.01); G01S 17/89 (2020.01)
CPC G01S 7/4817 (2013.01) [G01S 7/4815 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01)] 6 Claims
OG exemplary drawing
 
1. A method of three-dimensional imaging using a LiDAR system, the method comprising:
scanning the LiDAR system in a first direction with a first frequency and in a second direction orthogonal to the first direction with a second frequency, the LiDAR system including an electro-optic assembly that comprises one or more laser sources and one or more detectors, each respective detector corresponding a respective laser source, wherein the scanning of the LiDAR system in the first direction and the second directions scans a laser beam emitted by each respective laser source across a respective sub-field of view, and wherein the second frequency differs from the first frequency such that a trajectory of each laser source follows a Lissajous pattern;
translating the electro-optic assembly in the first direction and the second direction in a plane that is substantially perpendicular to an optical axis of the LiDAR system;
emitting, using each of the one or more laser sources, a plurality of laser pulses as the LiDAR system is scanned in the first direction and the second direction;
detecting, using each of the one or more detectors, a portion of each respective laser pulse of the plurality of laser pulses reflected off of one or more objects;
determining, using a processor, a time of flight for each respective laser pulse from emission to detection; and
acquiring a point cloud of the one or more objects based on the times of flight of the plurality of laser pulses from each laser source.