公开(公告)号：US11971484B2

公开(公告)日：2024-04-30

申请号：US17896603

申请日：2022-08-26

Applicant: Luminar Technologies, Inc.

Inventor： David L. Paulsen ,  Christopher Gary Sentelle ,  Zachary Heylmun ,  Matthew Hansen

IPC: G01S17/10 ,  G01S7/48 ,  G01S7/481 ,  G01S7/486 ,  G01S7/4861 ,  G01S17/89

CPC classification number: G01S17/10 ,  G01S7/4808 ,  G01S7/481 ,  G01S7/486 ,  G01S7/4861 ,  G01S17/89

Abstract: In one embodiment, a lidar system includes a light source configured to emit optical pulses using multiple pulse intervals (PIs) that include a first PI and a second PI, where the first PI and the second PI are not equal. The lidar system also includes a receiver configured to detect multiple input optical pulses. The lidar system further includes a processor configured to generate multiple pixels, where each pixel of the multiple pixels corresponds to one of the multiple input optical pulses and is associated with one of the PIs. The processor is further configured to (i) determine, for a particular pixel of the multiple pixels, a group of nearby pixels and (ii) determine whether the particular pixel is range-wrapped based at least in part on the PI associated with each pixel of the group of nearby pixels.

公开(公告)号：US10571570B1

公开(公告)日：2020-02-25

申请号：US16456622

申请日：2019-06-28

Applicant: Luminar Technologies, Inc.

Inventor： David L. Paulsen ,  Christopher Gary Sentelle ,  Zachary Heylmun ,  Matthew Hansen

IPC: G01C3/08 ,  G01S17/10 ,  G01S17/89 ,  G01S7/481 ,  G01S7/4861 ,  G01S7/48

Abstract: In one embodiment, a method includes emitting, by a light source of a lidar system, multiple optical pulses using multiple alternating pulse repetition intervals (PRIs) that include a first PRI and a second PRI, where the first PRI and the second PRI are not equal. The method also includes detecting, by a receiver of the lidar system, multiple input optical pulses and generating, by a processor of the lidar system, multiple pixels. Each pixel of the multiple pixels corresponds to one of the input optical pulses, and each pixel includes a PRI associated with a most recently emitted optical pulse of the multiple optical pulses. The method also includes determining a group of neighboring pixels for a particular pixel of the multiple pixels and determining whether the particular pixel is range-wrapped based at least in part on the PRI associated with each pixel of the group of neighboring pixels.