Techniques for target orientation estimation

A frequency-modulated continuous wave (FMCW) light detection and ranging (LIDAR) system, the system comprising:

• an optical source to transmit a plurality of optical beams towards a target;
• an optical receiver to receive a plurality of returned optical beams associated with the target;
• a processor;
• and
• a memory to store instructions that, when executed by the processor, cause the system to:
• generate a plurality of points from the plurality of returned optical beams, wherein each one of the plurality of points respectively corresponds to one of the plurality of returned optical beams;
• select a first point from the plurality;
• identify an orientation of the first point relative to the FMCW LIDAR system, further comprising:
• compute a plurality of beat frequencies associated with the plurality of returned optical beams based on a plurality of times at which each one of the plurality of returned optical beams is received;
• transform the plurality of beat frequencies into a frequency spectrum plot in frequency space;
• calculate a plurality of peak widths of the frequency spectrum plot, wherein each one of the plurality of peak widths is associated with one of the plurality of points;
• identify a Fast Fourier Transform (FFT) integration time associated with the plurality of returned optical beams;
• identify a scanner speed associated with the plurality of returned optical beams;
• transform the plurality of peak widths into a plurality of normalized peak widths based on the FFT integration time and the scanner speed;
• aggregate the plurality of normalized peak widths into a normalized peak width distribution;
• and
• translate the normalized peak width distribution to the orientation of the first point;
• compute an orientation of the target relative to the FMCW LIDAR system based on the orientation of the first point;
• and
• generate a point cloud based on the orientation of the target.

A frequency-modulated continuous wave (FMCW) light detection and ranging (LIDAR) system, the system comprising:

• an optical source to transmit a plurality of optical beams towards a target;
• an optical receiver to receive a plurality of returned optical beams associated with the target;
• a circuitry;
• and
• a memory to store instructions that, when executed by the circuitry, cause the system to:
• generate a plurality of points from the plurality of returned optical beams, wherein each one of the plurality of points respectively corresponds to one of the plurality of returned optical beams;
• select a first point from the plurality of points;
• determine, by a processor, an orientation of the first point relative to the FMCW LIDAR system, further comprising:
• compute a plurality of beat frequencies associated with the plurality of returned optical beams based on a plurality of times at which each one of the plurality of returned optical beams is received;
• transform the plurality of beat frequencies into a frequency spectrum plot in frequency space;
• calculate a plurality of peak widths of the frequency spectrum plot, wherein each one of the plurality of peak widths is associated with one of the plurality of points;
• identify a Fast Fourier Transform (FFT) integration time associated with the plurality of returned optical beams;
• identify a scanner speed associated with the plurality of returned optical beams;
• transform the plurality of peak widths into a plurality of normalized peak widths based on the FFT integration time and the scanner speed;
• aggregate the plurality of normalized peak widths into a normalized peak width distribution;
• and
• translate the normalized peak width distribution to the orientation of the first point;
• compute an orientation of the target relative to the FMCW LIDAR system based on the orientation of the first point;
• and
• generate a point cloud based on the orientation of the target.