A system simultaneously tracks multiple objects. All or a subset of the objects includes a wireless receiver and a transmitter for providing an output. The system includes one or more wireless transmitters that send commands to the wireless receivers of the multiple objects instructing different subsets of the multiple objects to output (via their respective transmitter) at different times. The system also includes object sensors that receive output from the transmitters of the multiple objects and a computer system in communication with the object sensors. The computer system calculates locations of the multiple objects based on the sensed output from the multiple objects.

A system simultaneously tracks multiple objects. All or a subset of the objects includes a wireless receiver and a transmitter for providing an output. The system includes one or more wireless transmitters that send commands to the wireless receivers of the multiple objects instructing different subsets of the multiple objects to output (via their respective transmitter) at different times. The system also includes object sensors that receive output from the transmitters of the multiple objects and a computer system in communication with the object sensors. The computer system calculates locations of the multiple objects based on the sensed output from the multiple objects.

Provided are a light-receiving device and lidar comprising the light-receiving device. The light-receiving device comprises: a first lens comprising a first lens surface for receiving light from an outside and a second lens surface for changing the path of the light received by the first lens surface and outputting the light to the outside; and a sensor on which light transmitted through the second lens surface is incident, wherein the first lens surface is a spherical surface, the second lens surface is an aspherical surface, and the focus of the first lens deviates from the sensor surface of the sensor.

A distance measuring device and a method for determining a distance are provided. The method includes: illuminating an object with a sequence of the light pulses, capturing one arriving light pulse corresponding to an intensity T.sub.e,l within a first integration gate, and outputting a signal value U.sub.1, capturing another arriving light pulse corresponding to the intensity T.sub.e,l within a second integration gate, and outputting a signal value U.sub.2, capturing one arriving light pulse corresponding to an intensity I.sub.e,h within the first integration gate and outputting a signal value U.sub.3, capturing the other arriving light pulse corresponding to the intensity I.sub.e,h within the second integration gate and outputting a signal value U.sub.4, and calculating the distance between the distance measuring device and the object based on U.sub.1, U.sub.2, U.sub.3, and U.sub.4.

Systems, methods, and computer-readable media are disclosed for a systems and methods for intra-shot dynamic LIDAR detector gain. One example method my include emitting, by an optical ranging system at a first time, a first light pulse. The example method may also include increasing, after the first time, a sensitivity of a photodetector of the optical ranging system from a first sensitivity at the first time to a second sensitivity at a second time. The example method may also include decreasing the sensitivity of the photodetector of the optical ranging system from the second sensitivity at third time to the first sensitivity at a fourth time, wherein the fourth time is after the photodetector receives return light based on the first light pulse. The example method may also include emitting, by the optical ranging system at the fourth time, a second light pulse.

Systems, methods, and computer-readable media are disclosed for a systems and methods for intra-shot dynamic LIDAR detector gain. One example method my include emitting, by an optical ranging system at a first time, a first light pulse. The example method may also include increasing, after the first time, a sensitivity of a photodetector of the optical ranging system from a first sensitivity at the first time to a second sensitivity at a second time. The example method may also include decreasing the sensitivity of the photodetector of the optical ranging system from the second sensitivity at third time to the first sensitivity at a fourth time, wherein the fourth time is after the photodetector receives return light based on the first light pulse. The example method may also include emitting, by the optical ranging system at the fourth time, a second light pulse.

A time-to-digital converter includes a self-calibrating, n-stage chain of a number n of gate delay elements connected in parallel and series between a clock signal line for supplying a clock signal and a stop signal line for supplying a stop signal; and a charge-pump and phase-detector unit for the feedback control of the gate delay elements, having a first input as a controlled-variable input, a second input as a reference-variable input, and an output as a correcting-variable output. The clock signal line is connected to the first input of the charge-pump and phase-detector unit, a push-pull line for supplying a push-pull signal is connected to the second input, and, for feedback, the gate delay elements are connected to the output of the charge-pump and phase-detector unit.

A time-to-digital converter includes a self-calibrating, n-stage chain of a number n of gate delay elements connected in parallel and series between a clock signal line for supplying a clock signal and a stop signal line for supplying a stop signal; and a charge-pump and phase-detector unit for the feedback control of the gate delay elements, having a first input as a controlled-variable input, a second input as a reference-variable input, and an output as a correcting-variable output. The clock signal line is connected to the first input of the charge-pump and phase-detector unit, a push-pull line for supplying a push-pull signal is connected to the second input, and, for feedback, the gate delay elements are connected to the output of the charge-pump and phase-detector unit.

A distance detection sensor includes a current-to-voltage converter configured to convert a current corresponding to a detection signal reflected from a target to a voltage, an amplifier configured to amplify the converted voltage, a comparator configured to compare an output value of the amplifier with a reference value to generate a receive pulse, a reference value selector configured to select any one of a plurality of reference values as the reference value, and a time-to-digital converter configured to calculate time-of-light (TOF) time in response to the receive pulse output from the comparator. The reference value selector continuously changes different reference values respectively corresponding continuous receive pulses.

A distance detection sensor includes a current-to-voltage converter configured to convert a current corresponding to a detection signal reflected from a target to a voltage, an amplifier configured to amplify the converted voltage, a comparator configured to compare an output value of the amplifier with a reference value to generate a receive pulse, a reference value selector configured to select any one of a plurality of reference values as the reference value, and a time-to-digital converter configured to calculate time-of-light (TOF) time in response to the receive pulse output from the comparator. The reference value selector continuously changes different reference values respectively corresponding continuous receive pulses.