Depth-sensing apparatus includes a laser, which emits pulses of optical radiation toward a scene. One or more detectors 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 scanner scans the pulses of optical radiation across the scene along successive parallel scan lines of a raster. Control and processing circuitry drives the laser to emit a succession of output sequences of the pulses with different, respective temporal spacings between the pulses within the output sequences in the succession, and matches the times of arrival of the signals due to the optical radiation reflected from the points in at least two adjacent scan lines in the raster to the temporal spacings of the output sequences in order to find respective times of flight for the points in the scene.

Depth-sensing apparatus includes a laser, which emits pulses of optical radiation toward a scene. One or more detectors 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 scanner scans the pulses of optical radiation across the scene along successive parallel scan lines of a raster. Control and processing circuitry drives the laser to emit a succession of output sequences of the pulses with different, respective temporal spacings between the pulses within the output sequences in the succession, and matches the times of arrival of the signals due to the optical radiation reflected from the points in at least two adjacent scan lines in the raster to the temporal spacings of the output sequences in order to find respective times of flight for the points in the scene.

Apparatus and method for adaptively adjusting amplifier gain based on detected distance to a target in a light detection and ranging (LiDAR) system. In some embodiments, the amplifier amplifies detected pulses obtained from a photodetector, and the gain is adjusted from among at least two selectable gain modes responsive to a measured time of flight (ToF) for the pulses. A first range of gain levels can be used for targets that are within a first maximum distance range, and a second range of gain levels can be used for targets that are beyond the first maximum distance range. Each mode can extend from a minimum to a maximum value along a selected linear slope. A gain adjustment circuit can use a Gilbert Cell or a multiplier and fully differential amplifier arrangement.

Apparatus and method for adaptively adjusting amplifier gain based on detected distance to a target in a light detection and ranging (LiDAR) system. In some embodiments, the amplifier amplifies detected pulses obtained from a photodetector, and the gain is adjusted from among at least two selectable gain modes responsive to a measured time of flight (ToF) for the pulses. A first range of gain levels can be used for targets that are within a first maximum distance range, and a second range of gain levels can be used for targets that are beyond the first maximum distance range. Each mode can extend from a minimum to a maximum value along a selected linear slope. A gain adjustment circuit can use a Gilbert Cell or a multiplier and fully differential amplifier arrangement.

Apparatus and method for enhancing resolution in a light detection and ranging (LiDAR) system. In some embodiments, an emitter is configured to emit a first beam of light pulses over a baseline, first field of view (FoV). Responsive to an activation signal, a controller circuit directs the emitter to concurrently interleave a second beam of light pulses over a second FoV within the first FoV. The first and second beams may be provided at different resolutions and frame rates, and may have pulses with different waveform characteristics to enable decoding using separate detection channels. The interlaced beams provide variable scanning of particular areas of interest within the baseline FoV. The second beam may be activated based on range information obtained from the first beam, or from an external sensor. Separate light sources operative at different wavelengths can be used to generate the first and second beams.

Aspects of the present disclosure involve systems, methods, and devices for mitigating Lidar cross-talk. Consistent with some embodiments, a Lidar system is configured to include one or more noise source detectors that detect noise signals that may produce noise in return signals received at the Lidar system. A noise source detector comprises a light sensor to receive a noise signal produced by a noise source and a timing circuit to provide a timing signal indicative of a direction of the noise source relative to an autonomous vehicle on which the Lidar system is mounted. A noise source may be an external Lidar system or a surface in the surrounding environment that is reflecting light signals such as those emitted by an external Lidar system.

Aspects of the present disclosure involve systems, methods, and devices for mitigating Lidar cross-talk. Consistent with some embodiments, a Lidar system is configured to include one or more noise source detectors that detect noise signals that may produce noise in return signals received at the Lidar system. A noise source detector comprises a light sensor to receive a noise signal produced by a noise source and a timing circuit to provide a timing signal indicative of a direction of the noise source relative to an autonomous vehicle on which the Lidar system is mounted. A noise source may be an external Lidar system or a surface in the surrounding environment that is reflecting light signals such as those emitted by an external Lidar system.

Systems and methods are provided for processing lidar data. The lidar data can be obtained in a particular manner that allows reconstruction of rectilinear images for which image processing can be applied from image to image. For instance, kernel-based image processing techniques can be used. Such processing techniques can use neighboring lidar and/or associated color pixels to adjust various values associated with the lidar signals. Such image processing of lidar and color pixels can be performed by dedicated circuitry, which may be on a same integrated circuit. Further, lidar pixels can be correlated to each other. For instance, classification techniques can identify lidar and/or associated color pixels as corresponding to the same object. The classification can be performed by an artificial intelligence (AI) coprocessor. Image processing techniques and classification techniques can be combined into a single system.

Systems and methods are provided for processing lidar data. The lidar data can be obtained in a particular manner that allows reconstruction of rectilinear images for which image processing can be applied from image to image. For instance, kernel-based image processing techniques can be used. Such processing techniques can use neighboring lidar and/or associated color pixels to adjust various values associated with the lidar signals. Such image processing of lidar and color pixels can be performed by dedicated circuitry, which may be on a same integrated circuit. Further, lidar pixels can be correlated to each other. For instance, classification techniques can identify lidar and/or associated color pixels as corresponding to the same object. The classification can be performed by an artificial intelligence (AI) coprocessor. Image processing techniques and classification techniques can be combined into a single system.

A method for calibrating and/or adjusting a lidar system. In the method, in order to perform a measurement-based comparison with respect to an underlying one-dimensionally or two-dimensionally detecting detector unit, a distribution of secondary light incident from the field of view and imaged onto the detector unit, and a center position and/or width of the distribution is/are acquired as position data and compared especially with presumed and/or expected position data featuring an expected center position and/or an expected distribution.