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1. (WO2017132703) MULTIPLE PULSE, LIDAR BASED 3-D IMAGING
Latest bibliographic data on file with the International Bureau

Pub. No.: WO/2017/132703 International Application No.: PCT/US2017/015869
Publication Date: 03.08.2017 International Filing Date: 31.01.2017
IPC:
G01S 17/00 (2006.01) ,G01C 3/00 (2006.01) ,G01P 3/481 (2006.01) ,G01P 3/58 (2006.01) ,G01C 22/00 (2006.01) ,G01C 23/00 (2006.01)
G PHYSICS
01
MEASURING; TESTING
S
RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17
Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
3
Measuring distances in line of sight; Optical rangefinders
G PHYSICS
01
MEASURING; TESTING
P
MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK; INDICATING PRESENCE OR ABSENCE OF MOVEMENT;  INDICATING DIRECTION OF MOVEMENT 
3
Measuring linear or angular speed; Measuring differences of linear or angular speeds
42
Devices characterised by the use of electric or magnetic means
44
for measuring angular speed
48
by measuring frequency of generated current or voltage
481
of pulse signals
G PHYSICS
01
MEASURING; TESTING
P
MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION OR SHOCK; INDICATING PRESENCE OR ABSENCE OF MOVEMENT;  INDICATING DIRECTION OF MOVEMENT 
3
Measuring linear or angular speed; Measuring differences of linear or angular speeds
42
Devices characterised by the use of electric or magnetic means
56
for comparing two speeds
58
by measuring or comparing amplitudes of generated currents or voltages
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
22
Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers or using pedometers
G PHYSICS
01
MEASURING; TESTING
C
MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
23
Combined instruments indicating more than one navigational value, e.g. for aircraft; Combined measuring devices for measuring two or more variables of movement, e.g. distance, speed, acceleration
Applicants:
VELODYNE LIDAR, INC. [US/US]; 345 Digital Drive Morgan Hill, California 95037, US
Inventors:
HALL, David S.; US
KERSTENS, Pieter J.; US
Agent:
SPANO, Joseph S.; US
Priority Data:
15/339,79031.10.2016US
62/289,27731.01.2016US
Title (EN) MULTIPLE PULSE, LIDAR BASED 3-D IMAGING
(FR) IMAGERIE 3D LIDAR À IMPULSIONS MULTIPLES
Abstract:
(EN) Methods and systems for performing multiple pulse LIDAR measurements are presented herein. In one aspect, each LIDAR measurement beam illuminates a location in a three dimensional environment with a sequence of multiple pulses of illumination light. Light reflected from the location is detected by a photosensitive detector of the LIDAR system during a measurement window having a duration that is greater than or equal to the time of flight of light from the LIDAR system out to the programmed range of the LIDAR system, and back. The pulses in a measurement pulse sequence can vary in magnitude and duration. Furthermore, the delay between pulses and the number of pulses in each measurement pulse sequence can also be varied. In some embodiments, the multi-pulse illumination beam is encoded and the return measurement pulse sequence is decoded to distinguish the measurement pulse sequence from exogenous signals.
(FR) La présente invention concerne des procédés et des systèmes permettant d'effectuer des mesures LIDAR à impulsions multiples. Selon un aspect, chaque faisceau de mesure LIDAR éclaire un emplacement dans un environnement tridimensionnel avec une séquence d'impulsions multiples de lumière d'éclairage. La lumière réfléchie depuis l'emplacement est détectée par un détecteur photosensible du système LIDAR pendant une fenêtre de mesure ayant une durée supérieure ou égale au temps de vol de la lumière nécessaire pour sortir du système LIDAR jusqu'à la plage programmée du système LIDAR, et y revenir. Les impulsions dans une séquence d'impulsions de mesure peuvent varier en amplitude et en durée. En outre, le délai entre les impulsions et le nombre d'impulsions de chaque séquence d'impulsions de mesure peuvent également être modifiés. Selon certains modes de réalisation, le faisceau d'éclairage à impulsions multiples est codé et la séquence d'impulsions de mesure de retour est décodée pour distinguer la séquence d'impulsions de mesure de signaux exogènes.
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Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KH, KN, KP, KR, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Organization (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: English (EN)
Filing Language: English (EN)
Also published as:
CA3012003CN108603932EP3408682