3-dimensional hybrid camera and production system

A three-dimensional imaging system comprising:

• a first ladar sensor having a first field of view and first optical axis;
• a second ladar sensor having a second field of view and second optical axis, the second field of view overlapping the first field of view, and the second optical axis having a converging angle with respect to the first optical axis;
• said first ladar sensor and second ladar sensor each having
• a laser transmitter configured to produce a modulated laser light output upon command from a system controller, said laser transmitter providing a zero range reference output indicating the initiation of laser light output,
• an optical receiver comprised of an array of optical detector elements,
• a plurality of unit cell electrical circuits, each unit cell electrical circuit connected to one of said optical detector elements and said zero range reference output,
• each unit cell electrical circuit adapted to measure the range to a reflecting surface in the field of view and to produce a pixel range output, and
• a readout integrated circuit connected to each unit cell electrical circuit, and adapted to produce a three-dimensional image output comprised of a plurality of the pixel range outputs;
• a visible light camera having a field of view overlapping at least one of the first field of view and the second field of view, and adapted to produce a two-dimensional image output;
• and
• a digital processor connected via a first communications link to said first ladar sensor, connected to said second ladar sensor via a second communications link, and connected via a third communications link to said visible light camera;
• said digital processor adapted to merge said three-dimensional image outputs with said two-dimensional image output into a three-dimensional point cloud output.

An object recognition system comprising:

• a ladar sensor having a first field of view, said ladar sensor including
• a laser transmitter producing a modulated laser light output upon command from a system controller, said laser transmitter providing a zero range reference output indicating the initiation of laser light output,
• an optical receiver comprised of an array of optical detector elements,
• a plurality of unit cell electrical circuits, each unit cell electrical circuit connected to one of said optical detector elements and said zero range reference output,
• each of said unit cell electrical circuits adapted to measure the range to a reflecting surface in the first field of view and to produce a pixel range output, and
• a readout integrated circuit connected to each unit cell electrical circuit, and adapted to produce a three-dimensional image output comprised of a plurality of said pixel range outputs;
• a visible light camera having a second field of view overlapping the first field of view and adapted to produce a two-dimensional image output;
• a digital processor connected via a first communications link to said ladar sensor and connected via a second communications link to said at least one visible light camera;
• said digital processor adapted to merge said three-dimensional image output with said two-dimensional image output into a three-dimensional point cloud output frame;
• and
• and an image processor adapted to search a plurality of three-dimensional point cloud output frames and to identify a number of objects in the first field of view.