Surface normal determination for LIDAR range samples by detecting probe pulse stretching

Patent metadata

Field	Value
Publication number	US-11753003-B2
Application number	US-202016785219-A
Country	US
Kind code	B2
Filing date	Feb 7, 2020
Priority date	Apr 13, 2017
Publication date	Sep 12, 2023
Grant date	Sep 12, 2023

Abstract

A LIDAR system includes a laser emitter configured to emit a laser pulse in a sample direction of a sample area of a scene. A sensor element of the LIDAR system is configured to sense a return pulse, which is a reflection from the sample area corresponding to the emitted laser pulse. The LIDAR system may compare a width of the emitted laser pulse to a width of the return pulse in the time-domain. The comparison of the width of the emitted pulse to the width of the return pulse may be used to determine an orientation or surface normal of the sample area relative to the sample direction. Such a comparison leads to a measurement of the change of pulse width, referred to as pulse broadening or pulse stretching, from the emitted pulse to the return pulse.

First claim

What is claimed is:

1. A device comprising:
a laser emitter to emit a first laser pulse and a second laser pulse;
a sensor to sense a first return pulse associated with the first laser pulse reflected from a surface, and a second return pulse associated with the second laser pulse; and
one or more processors to perform operations comprising:
determining a first surface area of the surface based, at least in part, on the first return pulse;
determining a second surface area of the surface based, at least in part, on the second return pulse;
determining a first orientation of the surface based, at least in part, on a comparison between a first width of the first laser pulse and a second width of the first return pulse; and
determining a surface discontinuity between the first surface area and the second surface area based, at least in part, on a comparison between the first orientation and a second orientation of the second surface area.

2. The device of claim 1 , wherein the comparison is a first comparison, the one or more processors to perform further operations comprising:
determining a distance between the surface and the sensor based, at least in part, on a second comparison between a first time associated with the first laser pulse and a second time associated with the first return pulse.

3. The device of claim 1 , wherein the first width and the second width are represented in a time domain.

4. The device of claim 1 , the one or more processors to perform further operations comprising:
determining an area of the surface based, at least in part, on a distance between the surface and the sensor and on a divergence angle associated with the first laser pulse.

5. The device of claim 1 , the one or more processors to perform further operations comprising:
generating navigation instructions for controlling a direction of a vehicle based at least in part on the first orientation of the surface.

6. The device of claim 1 , the one or more processors to perform further operations comprising:
controlling the laser emitter and the sensor to rotate about an axis that is substantially perpendicular to a sample direction in which the first laser pulse is emitted.

7. A method comprising:
emitting a first laser pulse and a second laser pulse toward a surface;
receiving a first return pulse associated with a first surface area of the surface, and a second return pulse associated with a second surface area of the surface, the first return pulse being received based at least in part on the first laser pulse, the second return pulse being received based at least in part on the second laser pulse;
determining, based at least in part on a comparison between a first width of the first laser pulse and a second width of the first return pulse, a first orientation of the surface; and
determining a surface discontinuity between the first surface area and the second surface area based, at least in part, on a comparison between the first orientation and a second orientation of the second surface area.

8. The method of claim 7 , further comprising:
determining, based at least in part on the comparison, a surface normal associated with the first surface area; and
providing the surface normal as training data to a machine learned model.

9. The method of claim 7 , further comprising:
providing a known distance and a known orientation associated with the surface as training data to a machine learned model.

10. The method of claim 7 , further comprising:
determining, based at least in part on the comparison, a surface normal associated with the first surface area;
inputting the surface normal to a machine learned model; and
receiving, from the machine learned model and based at least in part on the surface normal, one or more of a distance or an orientation of the surface.

11. The method of claim 7 , further comprising:
determining, based at least in part on the comparison, a first surface normal associated with the first surface are;
determining a second surface normal associated with the second surface area; and
determining a third surface normal associated with a third surface area based at least in part on interpolating between the first surface normal and the second surface normal.

12. The method of claim 7 , further comprising:
comparing the first width to the second width to determine a first surface normal for a first portion of the surface; and
comparing a third width of the second laser pulse to a fourth width of the second return pulse to determine a second surface normal for a second portion of the surface.

13. The method of claim 7 , further comprising:
determining, based at least in part on the comparison, a surface normal associated with the first surface area; and
transmitting, to a vehicle navigation system, surface normal information for controlling a direction of a vehicle, the surface normal information including information associated with the surface normal.

14. The method of claim 7 , wherein the first width and the second width are represented in a time domain.

15. A method comprising:
emitting a first pulse at a first portion of a surface having a first pulse width, and a second pulse at a second portion of a surface;
receiving, at a sensor, a first return pulse associated with the first pulse;
determining, based at least in part on a comparison between the first pulse width and a second pulse width of the first return pulse, a first orientation of the surface; and
determining a surface discontinuity between a first surface area associated with the first pulse and a second surface area associated with the second pulse, based, at least in part, on a comparison between the first orientation and a second orientation of the second surface area.

16. The method of claim 15 , further comprising:
determining a surface normal associated with the second portion of the surface based at least in part on a third width of the second pulse and a fourth width of a second return pulse,
wherein the surface discontinuity is determined further based, at least in part, on the surface normal.

17. The method of claim 15 ,
wherein the surface discontinuity is determined further based, at least in part, on a distance between the sensor and the second portion of the surface.

18. The method of claim 15 , further comprising:
determining a set of candidate surface normals based at least in part on the first pulse width; and
controlling operation of a vehicle based at least in part on the set of candidate surface normals.

19. The method of claim 15 , wherein the first pulse is reflected from an object, the first return pulse is associated with the first pulse reflected from the object, and the surface is associated with the object.

20. The method of claim 15 , wherein the first pulse width and the second pulse width are represented in a time domain.

Assignees

• Zoox Inc

Inventors

• Berger Adam
• Mcmichael Ryan
• Douillard Bertrand Robert

Classifications

• G01S17/10 Primary

  using transmission of interrupted, pulse-modulated waves (determination of distance by phase measurements G01S17/32) · CPC title

• B60W30/09 Primary

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• G01S7/4802

  using analysis of echo signal for target characterisation; Target signature; Target cross-section · CPC title

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• G08G1/165

  for passive traffic, e.g. including static obstacles, trees · CPC title