Disclosed herein are systems and methods for estimating target ranges, angles of arrival, and speed using optimization procedures. Target ranges are estimated by performing an optimization procedure to obtain a denoised signal, performing a correlation of a transmitted waveform and the denoised signal, and using a result of the correlation to determine an estimate of a distance between the sensor and at least one target. Target angles of arrival are estimated by determining ranges at which targets are located, and, for each range, constructing an array signal from samples of received echo signals, and using the array signal, performing another optimization procedure to estimate a respective angle of arrival for each target of the at least one target. Doppler shifts may also be estimated using another optimization procedure. Certain of the optimization procedures use atomic norm techniques.

A lidar for generating a cyclically optimal Pulse Position Modulated (PPM) waveform includes: a memory for storing a list of prime numbers; a processor for obtaining a list of prime numbers up to a predetermined maximum code length; selecting a largest prime number p* that is less than or equal to a ratio of a timing system bandwidth to the predetermined pulse repetition frequency (PRF), from the list of the prime numbers; constructing a list of pulse indices, m=0: p*−1 for the cyclically optimal PPM waveform; calculating a list of pulse modulations, dJs=mod(m.sup.2, p*)−(p*−1)/2, wherein dJs are modulation values; calculating a list of nominal pulse timings T, as T=m×ceil(T.sub.PRI/Δj), where Δj is a predetermined modulation resolution, and T.sub.PRI is the reciprocal of the PRF; calculating pulse timings t.sup.0 of the cyclically optimal PPM waveform as t.sup.0=Δj×(T+dJs); and generating the cyclically optimal PPM waveform from the pulse timings t.sup.0.

Disclosed are a distance image acquisition apparatus and a distance image acquisition method capable of achieving high distance measurement accuracy and omitting wasteful imaging or calculation. The distance image acquisition apparatus (10) includes a distance image sensor (14), a drive mode setting unit (20A), a distance image generation unit (20B), a pulse light emission unit (22), and an exposure control unit (24). The exposure control unit (24) controls emission and non-emission of pulse light emitted from the pulse light emission unit (22) according to a drive mode set by the drive mode setting unit (20A), and controls exposure in the distance image sensor (14). The distance image generation unit (20B) performs calculation processing of a sensor output acquired from the distance image sensor (14) according to the drive mode set by the drive mode setting unit (20A) to generate a distance image corresponding to a distance of a subject.

Disclosed are a distance image acquisition apparatus and a distance image acquisition method capable of achieving high distance measurement accuracy and omitting wasteful imaging or calculation. The distance image acquisition apparatus (10) includes a distance image sensor (14), a drive mode setting unit (20A), a distance image generation unit (20B), a pulse light emission unit (22), and an exposure control unit (24). The exposure control unit (24) controls emission and non-emission of pulse light emitted from the pulse light emission unit (22) according to a drive mode set by the drive mode setting unit (20A), and controls exposure in the distance image sensor (14). The distance image generation unit (20B) performs calculation processing of a sensor output acquired from the distance image sensor (14) according to the drive mode set by the drive mode setting unit (20A) to generate a distance image corresponding to a distance of a subject.

A clutter filter configuration tool for a safety laser scanner. The clutter filter configuration tool may first operate the safety laser scanner in an environment to learn the environmental clutter level and present the same to a user. Subsequent to this “teach-in” phase, the configuration tool may provide a clutter filter selection process which presents the environmental clutter level to the user and allows the user to select a suitable configuration for a clutter filter. The configuration tool may also provide a clutter filter simulation process wherein the clutter filter chosen by the user is verified and a test is performed using the selected clutter filter. The results may be reported on a visualized graph. The configuration tool may also determine a real area to be monitored utilizing a floor projection area and an orientation of the laser scanner.

Described herein are systems and methods that detect an electromagnetic signal in a constant interference environment. In one embodiment, the electromagnetic signal is a light signal. A constant interference detector may detect false signal “hits” generated by constant interference, such as bright light saturation, from valid signals. The constant interference detector determines if there is constant interference for a time period that is greater than a time period of the valid signal. In one embodiment, if a received signal exceeds a programmable threshold value for a programmable period of time, when compared to previously stored ambient light, a control signal is generated to inform the next higher network layer of a sudden change in ambient light. This control signal can be used to either discard the present return or process the signal in a different way. A constant interference detector may be a component of a LIDAR system.

Embodiments of this application provide a radar system, and a signal processing method and apparatus. The radar system includes: a transmitting assembly, a receiving assembly, and a controller. The transmitting assembly is configured to generate and transmit N first signals, where characteristics of the N first signals are different, the characteristic includes a wavelength and/or a delay, and N is an integer greater than 1; the receiving assembly is configured to receive a second signal; and the controller is configured to determine, based on the characteristics of the N first signals, whether the second signal includes an echo signal corresponding to the first signal.

A laser radar includes: an emitter including a laser array being configured to emit a plurality of laser beams for detecting a target object (OB); a receiver including a detector array being configured to receive echoes of the plurality of laser beams emitted from the laser array reflected by the target object (OB), and convert the echoes into electrical signals, where the laser array and the detector array form a plurality of detection channels, and each detection channel includes one laser and one detector; and a processor coupled to the emitter and the receiver, and configured to read a first electrical signal of a detector of a first detection channel and a second electrical signal of a detector of a second detection channel when a laser beam emitted from the laser array.

A laser radar includes: an emitter including a laser array being configured to emit a plurality of laser beams for detecting a target object (OB); a receiver including a detector array being configured to receive echoes of the plurality of laser beams emitted from the laser array reflected by the target object (OB), and convert the echoes into electrical signals, where the laser array and the detector array form a plurality of detection channels, and each detection channel includes one laser and one detector; and a processor coupled to the emitter and the receiver, and configured to read a first electrical signal of a detector of a first detection channel and a second electrical signal of a detector of a second detection channel when a laser beam emitted from the laser array.

A detection device of a light detection and ranging (lidar) device, a detection method, and a lidar device are provided. The detection device predicts the location of light spots of a reflected echo on a detector array, and reads electric signals of a subset of the photodetectors corresponding to the light spots. According to the detection method, the location on a detector array for light spots of a reflected echo is predicted according to a time of flight of a detection beam, a subset of the photodetectors corresponding to the light spots are activated, and their electric signals are read. All received light is detected, without increasing the receiving field of view, ambient light interference is suppressed, and the problem of shift of the light spots on a focal plane caused by optical path distortion is effectively solved.