US 12,455,356 B2
Convolved augmented range lidar nominal area
Joseph Hollmann, Watertown, MA (US); and Zachary R. Hoffman, Boston, MA (US)
Assigned to The Charles Stark Draper Laboratory, Inc., Cambridge, MA (US)
Filed by The Charles Stark Draper Laboratory, Inc., Cambridge, MA (US)
Filed on Jan. 31, 2024, as Appl. No. 18/428,827.
Application 18/428,827 is a continuation of application No. 16/415,933, filed on May 17, 2019, granted, now 11,921,238.
Claims priority of provisional application 62/675,281, filed on May 23, 2018.
Claims priority of provisional application 62/673,196, filed on May 18, 2018.
Prior Publication US 2024/0168138 A1, May 23, 2024
Int. Cl. G01S 7/4865 (2020.01); G01S 17/10 (2020.01); G05D 1/00 (2024.01); G05D 1/249 (2024.01)
CPC G01S 7/4865 (2013.01) [G01S 17/10 (2013.01); G05D 1/0231 (2013.01); G05D 1/249 (2024.01)] 12 Claims
OG exemplary drawing
 
1. A system comprising:
at least one hardware implemented computer processor for lidar imaging configured to:
pulse each of a plurality of scan locations in a scene with a light pulse sequence from a light source;
measure reflected light from the scene for each light pulse to form at least one time resolved light signal for each scan location in the scene, wherein each time resolved light signal indicates a measure of received light in each of a series of time bins, wherein to measure the reflected light includes to simultaneously adaptively adjust a stop frequency of a filter for each of the time resolved light signals responsive to determining scattering effects of the measured reflected light;
responsive to a minimum number of photons in the time bins failing to be received, combine adjoining time bins to those time bins to form super time bins, wherein each super time bin indicates a measure representing a sum of the received light in the adjoining time bins;
create a three dimensional image of the scene from the measures in the super time bin;
locate one or more objects depicted in a plurality of the scan locations in the image; and
for each object, combine the time resolved light signals for a plurality of the scan locations of the one or more objects to form a single object time resolved light signal for each object from which to determine distance to the object.