US 12,000,960 B2
Binning and non-binning combination
Oded Yeruhami, Tel-Aviv (IL); Amit Steinberg, Adanim (IL); Nir Osiroff, Givatayim (IL); and Ronen Eshel, Givatayim (IL)
Assigned to Innoviz Technologies Ltd., Rosh Ha'Ayin (IL)
Filed by INNOVIZ TECHNOLOGIES LTD, Rosh Ha'Ayin (IL)
Filed on Mar. 25, 2020, as Appl. No. 16/829,778.
Application 16/829,778 is a continuation of application No. PCT/IB2018/001156, filed on Sep. 26, 2018.
Claims priority of provisional application 62/632,789, filed on Feb. 20, 2018.
Claims priority of provisional application 62/589,686, filed on Nov. 22, 2017.
Claims priority of provisional application 62/567,692, filed on Oct. 3, 2017.
Claims priority of provisional application 62/563,367, filed on Sep. 26, 2017.
Prior Publication US 2020/0249354 A1, Aug. 6, 2020
Int. Cl. G01S 7/481 (2006.01); B60S 1/02 (2006.01); B81B 3/00 (2006.01); G01H 1/00 (2006.01); G01S 7/48 (2006.01); G01S 7/484 (2006.01); G01S 7/4863 (2020.01); G01S 7/4911 (2020.01); G01S 7/4914 (2020.01); G01S 7/497 (2006.01); G01S 17/06 (2006.01); G01S 17/10 (2020.01); G01S 17/32 (2020.01); G01S 17/42 (2006.01); G01S 17/58 (2006.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01); G02B 26/12 (2006.01)
CPC G01S 7/4817 (2013.01) [B60S 1/02 (2013.01); B81B 3/0018 (2013.01); G01H 1/00 (2013.01); G01S 7/4802 (2013.01); G01S 7/4808 (2013.01); G01S 7/4814 (2013.01); G01S 7/4815 (2013.01); G01S 7/4816 (2013.01); G01S 7/484 (2013.01); G01S 7/4863 (2013.01); G01S 7/4911 (2013.01); G01S 7/4914 (2013.01); G01S 7/497 (2013.01); G01S 17/06 (2013.01); G01S 17/10 (2013.01); G01S 17/32 (2013.01); G01S 17/42 (2013.01); G01S 17/58 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01); B81B 2201/04 (2013.01); G01S 2007/4975 (2013.01); G02B 26/122 (2013.01)] 13 Claims
OG exemplary drawing
 
1. A LIDAR system, comprising:
at least one processor configured to:
control at least one LIDAR light source for illuminating a field of view;
receive from a plurality of light detectors a plurality of input signals indicative of reflections of light from objects in the field of view, wherein the plurality of light detectors are arranged in an array, and each of the plurality of input signals is output from a corresponding one of the plurality of light detectors;
process a first subset of the input signals respectively output from a first sub-group of the plurality of light detectors associated with a first region of the field of view to detect a first object in the first region, wherein processing the first subset is performed individually on each input signal of the first subset of the input signals;
process a second subset of the input signals respectively output from a second sub-group of the plurality of light detectors associated with a second region of the field of view to detect at least one second object in the second region, wherein the at least one second object is located at a greater distance from the at least one light source than the first object and wherein processing of the second subset includes processing together input signals of the second subset, wherein the first sub-group of the plurality of light detectors and the second sub-group of the plurality of light detectors are included in the same array of light detectors; and
output information indicative of a distance to the first object and information indicative of a distance to the at least one second object,
wherein the at least one processor is further configured to:
receive the first subset of the input signals and second subset of the input signals in a time frame associated with a single scanning cycle; and
initially determine that at least some of the second subset of the input signals are associated with insufficient detection information, and thereafter process the second subset by combining at least two input signals of the second subset.