Methods, systems, and apparatuses are provided for estimating a location on an object in a three-dimensional scene. Multiple radiation patterns are produced by spatially modulating each of multiple first radiations with a distinct combination of one or more modulating structures, each first radiation having at least one of a distinct radiation path, a distinct source, a distinct source spectrum, or a distinct source polarization with respect to the other first radiations. The location on the object is illuminated with a portion of each of two or more of the radiation patterns, the location producing multiple object radiations, each object radiation produced in response to one of the multiple radiation patterns. Multiple measured values are produced by detecting the object radiations from the location on the object due to each pattern separately using one or more detector elements. The location on the object is estimated based on the multiple measured values.

A high-speed laser distance measuring device is described that includes an emitting part and a receiving part. The emitting part can include a polarizer (2) arranged between a light emitting tube (1) and a reflective mirror (3); the receiving part can further include a polarizing beamsplitter (7) arranged between the optical filter (6) and the receiving tube set. The light emitting tube (1) can emit an outgoing light beam to the polarizer (2), and the outgoing light beam can form an outgoing polarized light beam and is transmitted into the reflective mirror (3). After being reflected by the reflective mirror (3) and passing through the transmitting objective lens (4), the outgoing polarized light beam can be transmitted onto a target object. After being reflected by the target object, the outgoing polarized light beam can form a reflected polarized light beam, which passes through the receiving objective lens set (5) and is transmitted to the optical filter (6). After being filtered, the reflected polarized light beam is transmitted into the polarizing beamsplitter (7), and is split into a first reflected polarized light beam and a second reflected polarized light beam, which are transmitted into the first receiving tube (8), and the second receiving tube (9) respectively. The high-speed laser distance measuring device can identify the light formed by the reflection of an oriented reflective target and a target object, and can adopt different receiving means for receiving them. Simultaneously, it can effectively filter the interference caused by particulate matter in the test environment to the test.

A high-speed laser distance measuring device is described that includes an emitting part and a receiving part. The emitting part can include a polarizer (2) arranged between a light emitting tube (1) and a reflective mirror (3); the receiving part can further include a polarizing beamsplitter (7) arranged between the optical filter (6) and the receiving tube set. The light emitting tube (1) can emit an outgoing light beam to the polarizer (2), and the outgoing light beam can form an outgoing polarized light beam and is transmitted into the reflective mirror (3). After being reflected by the reflective mirror (3) and passing through the transmitting objective lens (4), the outgoing polarized light beam can be transmitted onto a target object. After being reflected by the target object, the outgoing polarized light beam can form a reflected polarized light beam, which passes through the receiving objective lens set (5) and is transmitted to the optical filter (6). After being filtered, the reflected polarized light beam is transmitted into the polarizing beamsplitter (7), and is split into a first reflected polarized light beam and a second reflected polarized light beam, which are transmitted into the first receiving tube (8), and the second receiving tube (9) respectively. The high-speed laser distance measuring device can identify the light formed by the reflection of an oriented reflective target and a target object, and can adopt different receiving means for receiving them. Simultaneously, it can effectively filter the interference caused by particulate matter in the test environment to the test.

Disclosed herein are techniques for improving the light collection efficiency in coaxial LiDAR systems. A coaxial LiDAR system includes a photodetector, a first polarization beam splitter configured to receive a returned light beam including a first linear polarization component and a second linear polarization component and direct the different linear polarization components to different respective directions, a polarization beam combiner configured to transmit the first linear polarization component from the first polarization beam splitter to the photodetector, a non-reciprocal polarization rotator configured to transmit the second linear polarization component from the first polarization beam splitter, and a second polarization beam splitter configured to reflect the second linear polarization component from the non-reciprocal polarization rotator towards the polarization beam combiner. The polarization beam combiner is further configured to reflect the second linear polarization component from the second polarization beam splitter to the photodetector.

Disclosed herein are techniques for improving the light collection efficiency in coaxial LiDAR systems. A coaxial LiDAR system includes a photodetector, a first polarization beam splitter configured to receive a returned light beam including a first linear polarization component and a second linear polarization component and direct the different linear polarization components to different respective directions, a polarization beam combiner configured to transmit the first linear polarization component from the first polarization beam splitter to the photodetector, a non-reciprocal polarization rotator configured to transmit the second linear polarization component from the first polarization beam splitter, and a second polarization beam splitter configured to reflect the second linear polarization component from the non-reciprocal polarization rotator towards the polarization beam combiner. The polarization beam combiner is further configured to reflect the second linear polarization component from the second polarization beam splitter to the photodetector.

A multi-modal sensor system includes: an underlying sensor system; a polarization camera system configured to capture polarization raw frames corresponding to a plurality of different polarization states; and a processing system including a processor and memory, the processing system being configured to control the underlying sensor system and the polarization camera system, the memory storing instructions that, when executed by the processor, cause the processor to: control the underlying sensor system to perform sensing on a scene and the polarization camera system to capture a plurality of polarization raw frames of the scene; extract first tensors in polarization representation spaces based on the plurality of polarization raw frames; and compute a characterization output based on an output of the underlying sensor system and the first tensors in polarization representation spaces.

A multi-modal sensor system includes: an underlying sensor system; a polarization camera system configured to capture polarization raw frames corresponding to a plurality of different polarization states; and a processing system including a processor and memory, the processing system being configured to control the underlying sensor system and the polarization camera system, the memory storing instructions that, when executed by the processor, cause the processor to: control the underlying sensor system to perform sensing on a scene and the polarization camera system to capture a plurality of polarization raw frames of the scene; extract first tensors in polarization representation spaces based on the plurality of polarization raw frames; and compute a characterization output based on an output of the underlying sensor system and the first tensors in polarization representation spaces.

An optical system of a laser radar is provided, which includes: a laser emitting module (100) configured to emit an initial beam; a beam splitting conversion module (200) configured to split the initial beam; a first lens group (05) configured to focus split beams; a reflective mirror group (06) configured to reflect focused beams to a MEMS scanning module (07); the MEMS scanning module (07) configured to reflect focused beams, receive return light formed by the focused beams when being reflected back, and reflect the return light to the reflective mirror group (06), in which the return light is outputted from the reflective mirror group (06) to the beam splitting conversion module (200); and a laser receiving module (300) configured to output a light detection value based on the received return light. A laser radar system is further provided.

An optical system of a laser radar is provided, which includes: a laser emitting module (100) configured to emit an initial beam; a beam splitting conversion module (200) configured to split the initial beam; a first lens group (05) configured to focus split beams; a reflective mirror group (06) configured to reflect focused beams to a MEMS scanning module (07); the MEMS scanning module (07) configured to reflect focused beams, receive return light formed by the focused beams when being reflected back, and reflect the return light to the reflective mirror group (06), in which the return light is outputted from the reflective mirror group (06) to the beam splitting conversion module (200); and a laser receiving module (300) configured to output a light detection value based on the received return light. A laser radar system is further provided.

An SN ratio of light to be received is improved. A polarizing filter (150) that is arranged in a light path extending from an object (11) to a light receiving unit (154) of a ToF sensor (153) and allows transmission of light polarized in a direction vertical to a direction of scanning is provided.