The present invention provides a loop closure detection method and system, a multi-sensor fusion SLAM system, a robot, and a medium. Said system runs on a mobile robot, and comprises a similarity detection unit, a visual pose solving unit, and a laser pose solving unit. According to the loop closure detection system, the multi-sensor fusion SLAM system and the robot provided in the present invention, the speed and accuracy of loop closure detection in cases of a change in a viewing angle of the robot, a change in the environmental brightness, a weak texture, etc. can be significantly improved.

Disclosed is a radiation arrangement for a multispectral active remote sensing device. The arrangement includes a transceiver, a detector, and a wavelength-adjustable narrow band stopper.

An embodiment can provide a motor comprising: a shaft; a rotor coupled to the shaft; a stator disposed between the shaft and the rotor; a bearing disposed between the shaft and the stator; and a base plate, wherein: the rotor includes a yoke coupled to the shaft; the base plate includes a body, a first partition protruding from the body, and a second partition extending from the first partition; the first partition is disposed between the bearing and the stator; a portion of the second partition is disposed to be overlapped with the first partition; and the first partition is in contact with the lateral surface of an outer ring of the bearing and the second partition is in contact with the one surface of the outer ring of the bearing.

An optical scanning device includes a reflector, a rotator, a first torsion beam and a second torsion beam, a first support part, a second support part, a first elastic layer, and a second elastic layer. The first elastic layer is superposed on the first torsion beam. The second elastic layer is superposed on the second torsion beam. A vertical dimension of an active layer is smaller than a horizontal dimension of the active layer in a cross section orthogonal to a direction in which the rotator is interposed between the first torsion beam and the second torsion beam. A material of the first elastic layer and the second elastic layer is higher in fatigue life than metal.

The present application discloses a LiDAR and an autonomous driving vehicle. The LiDAR includes a rotary device, a laser transceiving assembly, and a reflecting assembly. The rotary device has a first rotary part and a second rotary part that are configured to rotate relative to each other around a rotary axis. The laser transceiving assembly is connected to the first rotary part and configured to emit an emergent laser beam and receive a reflected laser beam. The reflecting assembly is connected to the second rotary part and has at least two reflectors. The at least two reflectors are arranged around the rotary axis, and at least two of included angles between the reflectors and a plane perpendicular to the rotary axis are different. In the present application, the same reflector can reflect both the emergent laser beam and the reflected laser beam.

A distance measurement apparatus of a scanning type provided with a two-dimensional micro electro mechanical system (MEMS) mirror that reflects a laser beam includes: a first detector that detects a mirror angle of the two-dimensional MEMS mirror and outputs an angular signal that indicates the mirror angle; and a processor that calculates an amplitude error and a phase error between amplitude and a phase of the angular signal and amplitude and a phase of a reference angle signal, and corrects a resonance drive waveform of a drive signal that drives, of two mutually orthogonal axes of the two-dimensional MEMS mirror, one axis on a resonance drive side on a basis of the amplitude error and the phase error.

A method, system, and computer product that track scanning data acquired by a three-dimensional (3D) coordinate scanner is provided. The method includes storing a digital representation of an environment in memory of a mobile computing device. A first scan is performed with the 3D coordinate scanner in an area of the environment. A location of the first scan is determined on the digital representation. The first scan is registered with the digital representation. The location of the 3D coordinate scanner is indicated on the digital representation at the time of the first scan.

Disclosed herein are system and method embodiments to implement a scout pulse LiDAR. An embodiment operates by emitting a leading sequence of two or more discrete pulses with a constant timing offset and large intensity ratio. These leading pulses are each called a ‘scout pulse’ because they scout ahead of the primary pulse to detect high intensity targets, which would otherwise saturate the detector. In the simplest configuration, there are only two pulses, one primary pulse (lagging, high power/intensity) and one scout pulse (leading, low power/intensity). In more complex configurations, there may be any number of multiple scout pulses, each with a unique time delay and intensity. In any configuration, the signals are emitted in order of ascending intensity, with the lowest intensity signal in front (first), and the highest intensity signal in the back (last) within the pulse train.

In some examples, an apparatus is provided. The apparatus comprises: an illuminator having an adjustable field of view (FOV), the FOV being adjusted based on setting a direction of propagation of light to illuminate the FOV; a light detector; and a controller configured to: control the illuminator to project the light along a first direction of propagation to illuminate a first FOV; control the illuminator to project the light along a second direction of propagation to illuminate a second FOV; detect, using the light detector, reflected light received from the first FOV and the second FOV to generate one or more detection outputs for a combined FOV including the first FOV and the second FOV; and perform at least one of a detection operation or a ranging operation of an object in the combined FOV based on the one or more detection outputs.

An oscillator control system includes an oscillator structure configured to oscillate about first and second rotation axes according to a Lissajous pattern, wherein an oscillation about the second rotation axis imparts a cross-coupling error onto an oscillation about the first rotation axis, and wherein the cross-coupling error changes in accordance with a Lissajous position within the Lissajous pattern; and a driver circuit that includes a phase-locked loop (PLL) configured to regulate a driving signal that drives the oscillation about the first rotation axis. The PLL is configured to generate a PLL signal based on a phase error of the oscillation about the first rotation axis. The PLL includes a compensation circuit configured to receive the PLL signal and the Lissajous position within the Lissajous pattern, apply a compensation value to the PLL signal to generate a compensated PLL signal used for generating the driving signal based on the Lissajous position.