An optical testing apparatus is used in testing an optical measuring instrument that provides incident light from a light source to an incident object and receives reflected light of the incident light at the incident object. The apparatus includes an incident light receiving section, a light signal providing section, an imaging section, and an optical axis misalignment deriving section. The incident light receiving section receives incident light. The light signal providing section provides a light signal to an incident object after a predetermined delay time since the incident light receiving section has received the incident light. The imaging section images the incident light. The optical axis misalignment deriving section derives misalignment of the optical axis of the incident light with respect to the incident light receiving section based on misalignment between the incident light receiving section and the imaging section as well as an imaging result with the imaging section.

A system in a vehicle includes a lidar system to obtain lidar data in a lidar coordinate system, a camera to obtain camera data in a camera coordinate system, and processing circuitry to automatically determine an alignment state resulting in a lidar-to-vehicle transformation matrix that projects the lidar data from the lidar coordinate system to a vehicle coordinate system to provide lidar-to-vehicle data. The alignment state is determined using the camera data.

A method and apparatus is provided to calibrate a LiDAR using a reflect array calibration target having a spatially varying spectral reflectance profile. A frequency modulated continuous wave LiDAR emits a beam that spans a range of wavelengths, and, therefore, spatially varying spectral features in the reflectance profile can be used as indicia of where the LiDAR beam hits the calibration target. For example, the center has one absorption wavelength and the periphery has another, such that alignment is achieved by changing the alignment direction to maximize the spectral feature at the one absorption wavelength while minimizing the spectral feature at the other absorption wavelength. Alternatively, at least one spectral feature can have a center wavelength that changes as a function of space. Thus, the LiDAR is aligned by changing the beam direction to shift the center wavelength to a value corresponding to the target center.

Embodiments described herein include a method of receiving, by a moving assisting vehicle, a calibration assistance request related to a moving ego vehicle that requested assistance in collaborative calibration of a sensor deployed on the moving ego vehicle. The method further includes analyzing the calibration assistance request to extract at least one of a schedule or an assistance route associated with the requested assistance. The method includes communicating with the moving ego vehicle about a desired location relative to the position of the moving ego vehicle for the moving assisting vehicle to be in order to assist the sensor to acquire information of a target present on the moving assisting vehicle. The method includes facilitating to drive the moving assisting vehicle to reach the desired location to achieve the collaborative calibration of the sensor on the moving ego vehicle.

An integrated optical assembly is provided, with enhancements that are particularly useful when the integrated optical assembly forms part of a laser radar system. The integrated optical assembly produces a reference beam that is related to the optical characteristics of a scanning reflector, or to changes in position or orientation of the scanning reflector relative to a source. Thus, if the scanning reflector orientation were to shift from its intended orientation (due e.g. to thermal expansion) or if characteristics of the scanning reflector (e.g. the index of refraction of the scanning reflector) were to change on account of temperature changes, the reference beam can be used to provide data that can be used to account for such changes. In addition, if the scanning reflector were to be positioned in an orientation other than the orientation desired, the reference beam can be used in identifying and correcting that positioning.

Devices, systems, and methods are provided for enhanced pointing angle validation. A device may generate a collimated beam using a light source emitting a light beam through a fiducial target in an optical instrument. The device may capture an image fiducial target using a camera, wherein the camera is mounted on a mounting datum that is orthogonal to the collimated beam. The device may determine a pointing angle associated with camera based on the captured image of the fiducial target. The device may compare a location of the fiducial target in the image to an optical center of the camera. The device may determine a validation status of camera based on the location of the fiducial target in the image.

A multi-laser bore-sighting riflescope system can receive a first laser beam having a first wavelength and a second laser beam having a second wavelength smaller than the first wavelength. The system can detect reflected light from the first laser beam. The system can calculate an initial range to a target. The system can determine a ballistics solution. The system can find a ballistics aimpoint. Further, the system can illuminate a display of a riflescope display assembly (RDA). The system can mark the ballistics aimpoint with an electronic reticle on the display. The system can redirect the first laser beam to the ballistics aimpoint. The system can redirect the second laser to the ballistics aimpoint. The system can detect secondary reflected laser light from the first laser beam. The system can calculate a secondary range to the target.

Described herein are systems, methods, and non-transitory computer readable media for performing an alignment between a first vehicle sensor and a second vehicle sensor. Two-dimensional (2D) data indicative of a scene within an environment being traversed by a vehicle is captured by the first vehicle sensor such as a camera or a collection of multiple cameras within a sensor assembly. A three-dimensional (3D) representation of the scene is constructed using the 2D data. 3D point cloud data also indicative of the scene is captured by the second vehicle sensor, which may be a LiDAR. A 3D point cloud representation of the scene is constructed based on the 3D point cloud data. A rigid transformation is determined between the 3D representation of the scene and the 3D point cloud representation of the scene and the alignment between the sensors is performed based at least in part on the determined rigid transformation.

A computer, including a processor and a memory, the memory including instructions to be executed by the processor to obtain velocity lidar point cloud data acquired with a frequency modulated continuous wave (FMCW) lidar sensor, wherein the velocity lidar point cloud data includes a speed with which a data point is moving with respect to the FMCW lidar sensor, filter the velocity lidar point cloud data to select static velocity data points, wherein the static velocity data points are velocity data points each correspond to a point on a roadway around a vehicle. The instructions can include further instructions to determine FMCW lidar sensor accelerations in six degrees of freedom based on the static velocity lidar data points and determine FMCW lidar sensor rotations and translations in six degrees of freedom based on the FMCW lidar sensor accelerations in six degrees of freedom. The instructions can include further instructions to determine vehicle rotations and translations in six degrees of freedom based on inertial measurement unit (IMU) data, determine FMCW lidar sensor mis-alignment based on comparing the FMCW lidar sensor rotations and translations with the vehicle rotations and translations and align the FMCW lidar sensor based on the FMCW lidar sensor mis-alignment. The instructions can include further instructions to operate a vehicle based on the aligned FMCW lidar sensor.

A sensor system is disclosed. The sensor system may comprise a housing; an emitter, carried by the housing, that emits a beam comprising depth-data signals; a beam-distribution adjustment system; and a processor programmed to control the adjustment system by selectively changing an angular distribution of the depth-data signals emitted from the housing.