US 10,761,210 B2 · System and method for determining ranges to a target behind a transparent surface

Abstract

Systems and methods for determining ranges to a target disposed behind a transparent surface are described. A target acquisition system receives a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface. The lidar returns correspond to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface. A range measurement for each of the plurality of lidar returns is determined. The target acquisition system generates a histogram of the range measurements. The histogram includes an array including a plurality of range bins. Each range bin defines a unique portion of a predetermined distance out from the lidar. The histogram further includes a count associated with each respective range bin. The count corresponds to a number of range measurements falling within the unique portion of the predetermined distance corresponding to that respective range bin. In some implementations of the invention, the target acquisition system determines which of the range measurements correspond to the target based on the histogram. In some implementations of the invention, the target acquisition system determines which of the range measurements correspond to the transparent surface based on the histogram.

Claims10

Dependent claims

A method for determining ranges to a target disposed behind a transparent surface, the method comprising:

receiving a plurality of lidar returns, at least some of which are from a target and at least some of which are from a transparent surface, the lidar returns corresponding to a portion of a lidar signal generated by a lidar, directed toward the target, and reflected back to the lidar from either the target or the transparent surface, wherein receiving a plurality of lidar returns comprises:
receiving a first plurality of lidar returns from the lidar when one or more lidar beams are directed toward a first spot;
causing the one or more lidar beams of the lidar to be directed toward a second spot;
and
receiving a second plurality of lidar returns from the lidar when one or more lidar beams are directed toward the second spot;
determining a range measurement for each of the plurality of lidar returns;
generating a histogram of the range measurements;
and
determining which of the range measurements correspond to the target based on the histogram.

6 more elements

A system for determining ranges to a target disposed behind a transparent surface comprising:

a lidar configured to direct a lidar signal toward a target and to receive a plurality of lidar returns, the plurality of lidar returns corresponding to a portion of the lidar signal reflected back to the lidar from either the target or a transparent surface, wherein at least some of the plurality of lidar returns are from the target and at least some of the plurality of lidar returns are from the transparent surface, wherein the lidar configured to receive a plurality of lidar returns comprises the lidar configured to:
receive a first plurality of lidar returns from the lidar when one or more lidar beams are directed toward a first spot;
receive a second plurality of lidar returns from the lidar when one or more lidar beams are directed toward a second spot;
and
a processor configured to:
determine a range measurement for each of the plurality of lidar returns,
generate a histogram of the range measurements, and
determining which of the range measurements correspond to the target based on the histogram.

5 more elements

Dependencies are inferred from the claim text.

System and method for determining ranges to a target behind a transparent surface

Life of this patent

System and method for determining ranges to a target behind a transparent surface

Life of this patent

Abstract

Claims10