Disclosed herein are separated type receiving device for lidar, transmitting device for lidar and lidar system thereof. The receiving device for Lidar is installed in a moving device and separated from a transmitting apparatus for Lidar fixed to a fixed body. The receiving apparatus for Lidar includes: an object beam detection module configured to detect an object beam which is a beam received after being transmitted from the transmitting apparatus for Lidar and reflected from a neighboring object of the moving device; and a reception controller configured to generate Lidar data based on information associated with the transmitted beam and a signal of the object beam.

Techniques described herein provide memory redundancy. For example, the memory block for each pixel can be partitioned into multiple memory bins, and the number of memory bins can be larger than the number of time bins. Once a faulty memory cell is identified, an address associated with the memory bin that has the faulty memory cell can be skipped by an address generator. As such, the faulty memory cell is not used to store time-of-fight (ToF) information.

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.

A time of flight based depth detection system is disclosed that includes a projector configured to sequentially emit multiple complementary illumination patterns. A sensor of the depth detection system is configured to capture the light from the illumination patterns reflecting off objects within the sensor's field of view. The data captured by the sensor can be used to filter out erroneous readings caused by light reflecting off multiple surfaces prior to returning to the sensor.

Methods and systems for performing three-dimensional (3-D) LIDAR measurements with multiple illumination beams scanned over a 3-D environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the 3-D environment under measurement.

Methods and systems for performing three-dimensional (3-D) LIDAR measurements with multiple illumination beams scanned over a 3-D environment are described herein. In one aspect, illumination light from each LIDAR measurement channel is emitted to the surrounding environment in a different direction by a beam scanning device. The beam scanning device also directs each amount of return measurement light onto a corresponding photodetector. In some embodiments, a beam scanning device includes a scanning mirror rotated in an oscillatory manner about an axis of rotation by an actuator in accordance with command signals generated by a master controller. In some embodiments, the light source and photodetector associated with each LIDAR measurement channel are moved in two dimensions relative to beam shaping optics employed to collimate light emitted from the light source. The relative motion causes the illumination beams to sweep over a range of the 3-D environment under measurement.

A laser radar system according to the present invention includes: a light source to output light having a first frequency in a first period and light having a second frequency in a second period; an optical splitter to split the lights, outputted from the light source, into signal light and local oscillator light; an optical modulator to modulate the signal light into pulsed light; an optical antenna to output the pulsed light into space and to receive, as reception light, the scattered light from a target; an optical heterodyne receiver to perform heterodyne detection on the reception light by using the local oscillator light; and a measurement unit to measure the distance to the target or the movement characteristics of the target by using the reception signal detected by the optical heterodyne receiver, wherein the optical heterodyne receiver performs the heterodyne detection on the first frequency of the reception light by using the second frequency of the local oscillator light. With this configuration, a large amount of frequency shift can be provided between the signal light and the local oscillator light, and thus, the distance to the target can be measured with high resolution by using short pulsed-light.

A light detection and ranging (LiDAR) system may include a laser and a array of single photon avalanche diodes (SPADs) that are triggered by laser light that reflects off a target scene. The LiDAR system may use the array of SPADs to assemble a raw histogram data. A histogram valid peak detector can be used to filter the raw histogram data to extract only valid histogram peak signals exceeding a threshold value. The histogram valid peak detector may include a raw histogram sum counter, a non-zero bins counter, a background noise floor generator, summing circuits, comparators, and a gating circuit, all controlled by a sequencing circuit. By filtering out noise signals in the raw histogram while only transferring the valid peak signals, data transfer rate requirements between different chips in the overall LiDAR system can be dramatically reduced.

The present disclosure provides a range-finding system capable of data communication. The range-finding system includes a rangefinder for acquiring ranging data, a magnetic ring unit having at least two communication channels, and a data processing and control unit. Each communication channel includes a magnetic ring. The magnetic ring unit transmits the ranging data as downlink data from the rangefinder to the data processing and control unit via one or more of the communication channels.