CALIBRATION OF DEPTH SENSING USING A SPARSE ARRAY OF PULSED BEAMS

    公开(公告)号:WO2020167337A1

    公开(公告)日:2020-08-20

    申请号:PCT/US2019/045187

    申请日:2019-09-04

    Applicant: APPLE INC.

    Abstract: Depth sensing apparatus (20) includes a radiation source (21), which is configured to emit a first plurality of beams (30) of light pulses toward a target scene (32). An array (24) of a second plurality of sensing elements (78) is configured to output signals indicative of respective times of incidence of photons on the sensing element, wherein the second plurality exceeds the first plurality. Light collection optics (34) are configured to image the target scene onto the array of sensing elements. Processing and control circuitry (26, 28, 35) is coupled to receive the signals from the array and is configured to search over the sensing elements in order to identify, responsively to the signals, respective regions of the array on which the light pulses reflected from the target scene are incident, and to process the signals from the identified regions in order determine respective times of arrival of the light pulses.

    EARLY-LATE PULSE COUNTING FOR LIGHT EMITTING DEPTH SENSORS

    公开(公告)号:WO2019014494A1

    公开(公告)日:2019-01-17

    申请号:PCT/US2018/041895

    申请日:2018-07-12

    Applicant: APPLE INC.

    Abstract: Disclosed herein are methods and devices for light emitting depth sensors such as scanning depth sensors and LIDARS. Methods, devices and systems disclose tracking a beam of reflected light pulses on an array of light sensing pixels. The tracking can dynamically update a location of the beam or an expected on-center time of the reflected light pulses at a pixel of the array. Counts of detected reflected pulses in time periods before and after the expected on-center time at a pixel are used to detect offsets in initial estimates of the beam location or timing.

    ADAPTIVE TRANSMISSION POWER CONTROL FOR A LIDAR
    7.
    发明申请
    ADAPTIVE TRANSMISSION POWER CONTROL FOR A LIDAR 审中-公开
    激光雷达的自适应传输功率控制

    公开(公告)号:WO2018057085A1

    公开(公告)日:2018-03-29

    申请号:PCT/US2017/040648

    申请日:2017-07-05

    Applicant: APPLE INC.

    Abstract: An electro-optical device (20) includes a laser (28), which is configured to emit toward a scene (38) pulses (36) of optical radiation. An array (34) of detectors (79) are configured to receive the optical radiation that is reflected from points in the scene and to output signals indicative of respective times of arrival of the received radiation. A controller (26) is coupled to drive the laser to emit a sequence of pulses of the optical radiation toward each of a plurality of points in the scene and to find respective times of flight for the points responsively to the output signals, while controlling a power of the pulses emitted by the laser by counting a number of the detectors outputting the signals in response to each pulse, and reducing the power of a subsequent pulse in the sequence when the number is greater than a predefined threshold.

    Abstract translation: 电光装置(20)包括激光器(28),该激光器构造成朝向场景(38)发射光辐射的脉冲(36)。 检测器(79)的阵列(34)被配置为接收从场景中的点反射的光辐射并输出指示所接收的辐射的相应到达时间的信号。 控制器(26)被耦合以驱动激光器向场景中的多个点中的每一个发射光学辐射的脉冲序列,并且响应于输出信号找出各个点的飞行时间,同时控制 通过对响应于每个脉冲输出信号的检测器的数量进行计数来激励由激光器发射的脉冲的功率,并且当该数量大于预定义的阈值时减小序列中的后续脉冲的功率。

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