A solid-state lidar device comprises a laser generator, an optical lens arrangement having a focal length and providing a rear focal plane, a solid-state sensing array positioned at the rear focal plane of the optical lens arrangement having a first sensor and a second sensor spaced from each other by a first sensor distance and at least one processor. The processor is configured to obtain a measured distance of the target from a pulsed time-of-flight measurement utilizing the laser generator and at least one of the first sensor and the second sensor of the solid-state sensing array and obtain at least one spatial coordinate for the target from the measured distance using a calibration parameter indicative of the ratio of the first sensor distance and the focal length.

A solid-state lidar device comprises a laser generator, an optical lens arrangement having a focal length and providing a rear focal plane, a solid-state sensing array positioned at the rear focal plane of the optical lens arrangement having a first sensor and a second sensor spaced from each other by a first sensor distance and at least one processor. The processor is configured to obtain a measured distance of the target from a pulsed time-of-flight measurement utilizing the laser generator and at least one of the first sensor and the second sensor of the solid-state sensing array and obtain at least one spatial coordinate for the target from the measured distance using a calibration parameter indicative of the ratio of the first sensor distance and the focal length.

A method for processing data provided by a lidar. Obtaining, for measurement points of a lidar, data representative of a diffuse intensity and a distance between the measurement point and the lidar; determining an angle of incidence of the lidar at each measurement point; calculating, for each measurement point, reflectivity from the angle of incidence, the distance and the diffuse intensity; identifying spatially adjacent measurement points having a reflectivity within a given range of values to form common reflectivity zones; defining a cost function for at least one common reflectivity zone, the cost function including a first diffuse intensity and a second diffuse intensity, the angle and the distance of the measurement point in question; minimizing the cost function in order to update at least one of the angle, the distance and the reflectivity at the measurement point, for each of the measurement points belonging to a common reflectivity zone.

A method for processing data provided by a lidar. Obtaining, for measurement points of a lidar, data representative of a diffuse intensity and a distance between the measurement point and the lidar; determining an angle of incidence of the lidar at each measurement point; calculating, for each measurement point, reflectivity from the angle of incidence, the distance and the diffuse intensity; identifying spatially adjacent measurement points having a reflectivity within a given range of values to form common reflectivity zones; defining a cost function for at least one common reflectivity zone, the cost function including a first diffuse intensity and a second diffuse intensity, the angle and the distance of the measurement point in question; minimizing the cost function in order to update at least one of the angle, the distance and the reflectivity at the measurement point, for each of the measurement points belonging to a common reflectivity zone.

A light receiving device of the present disclosure includes a light receiving unit that has a plurality of photon counting type light receiving elements arranged, the plurality of photon counting type light receiving elements receiving light from an object, an addition unit configured to add values of the plurality of light receiving elements at a predetermined time to use a resultant as a pixel value, and a logarithmic transformation processing unit configured to transform the pixel value into a logarithmic value or an approximate value thereof to use a resultant as logarithmic representation data, in which reflected pulsed light, from a subject, based on the photon counting type light receiving elements receiving light from the object from a light source unit is received.

A light receiving device of the present disclosure includes a light receiving unit that has a plurality of photon counting type light receiving elements arranged, the plurality of photon counting type light receiving elements receiving light from an object, an addition unit configured to add values of the plurality of light receiving elements at a predetermined time to use a resultant as a pixel value, and a logarithmic transformation processing unit configured to transform the pixel value into a logarithmic value or an approximate value thereof to use a resultant as logarithmic representation data, in which reflected pulsed light, from a subject, based on the photon counting type light receiving elements receiving light from the object from a light source unit is received.

A time of flight (TOF) measurement method and apparatus are provided, including a controller, a time to digital converter, a pulse transmitter, and a pulse receiver. The controller is configured to control, in a working period according to a predetermined transmit rule, the pulse transmitter to sequentially send M transmit pulses. The pulse receiver is configured to receive N feedback pulses in the working period. The time to digital converter is configured to obtain time of flight information corresponding to the N feedback pulses. The controller is further configured to obtain a target time of flight based on the time of flight information corresponding to the N feedback pulses, and obtain a target distance based on the target time of flight.

A time of flight (TOF) measurement method and apparatus are provided, including a controller, a time to digital converter, a pulse transmitter, and a pulse receiver. The controller is configured to control, in a working period according to a predetermined transmit rule, the pulse transmitter to sequentially send M transmit pulses. The pulse receiver is configured to receive N feedback pulses in the working period. The time to digital converter is configured to obtain time of flight information corresponding to the N feedback pulses. The controller is further configured to obtain a target time of flight based on the time of flight information corresponding to the N feedback pulses, and obtain a target distance based on the target time of flight.

An optical scanning device includes an optical mode converter to change, in accordance with a change in wavelength of a light output from a light source or phase of the light output from the light source, a radiation direction of the light, and an actuator to rotate the optical mode converter about each of two shafts orthogonal to each other.

An optical scanning device includes an optical mode converter to change, in accordance with a change in wavelength of a light output from a light source or phase of the light output from the light source, a radiation direction of the light, and an actuator to rotate the optical mode converter about each of two shafts orthogonal to each other.