US 12,216,209 B2
Video-tracking of sparse Geiger-mode data
Adam Hodge Greenberg, Los Angeles, CA (US)
Assigned to Raytheon Company, Arlington, VA (US)
Filed by Raytheon Company, Arlington, VA (US)
Filed on Dec. 30, 2020, as Appl. No. 17/138,365.
Prior Publication US 2024/0402340 A1, Dec. 5, 2024
Int. Cl. G01S 17/89 (2020.01); G01S 17/42 (2006.01); G01S 17/58 (2006.01); G01S 17/894 (2020.01)
CPC G01S 17/89 (2013.01) [G01S 17/42 (2013.01); G01S 17/58 (2013.01); G01S 17/894 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A detection and ranging system comprising:
a receiver including a focal plane array arranged to receive scattered laser pulses; and
a processor arranged to:
generate a video filter array, the video filter array including a set of estimated velocity pixel coordinate components arranged in a linear data set while representing a plurality of two-dimensional arrays associated with a plurality of frames, each of the plurality of two-dimensional arrays having dimensions equal to dimensions of the focal plane array of the receiver,
generate a plurality of detected photo events based on the received scattered laser pulses,
filter the plurality of detected photo events by linearly indexing each of the plurality of detected photo events based on, for each detected photo event, a vertical position in the focal plane array, a horizontal position in the focal plane array, a frame number, and the dimensions of the focal-plane array,
map each detected photo event to the set of estimated velocity pixel coordinate components based on a time between receiving the scattered laser pulses and the focal-plane array vertical and horizontal positions of each of the detected photo event, and
generate a motion-compensated image associated with the mapped plurality of detected photo events in a filtered two-dimensional array having dimensions equal to the dimensions of the focal plane array.