Techniques for detecting cross-talk interferences in LiDAR imaging sensors

A method of operating a LiDAR system, the method comprising:

• emitting, using a plurality of light sources disposed as an array, a plurality of sets of light pulses to be directed toward a scene within a field of view of the LiDAR system, wherein each respective set of light pulses comprises a plurality of light pulses in a temporal sequence, each respective light pulse being emitted by a respective light source of the plurality of light sources;
• detecting, using a plurality of detectors disposed as an array, a plurality of return light pulses, wherein each respective detector corresponds to a respective light source, and at least a subset of the plurality of return light pulses corresponds to the plurality of sets of light pulses that have been reflected off of one or more objects in the scene;
• determining a time of flight for each respective return light pulse of the plurality of return light pulses;
• obtaining a point cloud based on the times of flight of the plurality of return light pulses, the point cloud including a plurality of points representing one or more surfaces of the one or more objects, each respective point corresponding to a respective return light pulse;
• and
• for each respective point in the point cloud:
• analyzing spatial and temporal relationships between the respective point and neighboring points in the point cloud;
• and
• evaluating a quality factor for the respective point based on the spatial and temporal relationships.

A LiDAR system comprising:

• a plurality of light sources disposed as an array and configured to emit a plurality of sets of light pulses to be directed toward a scene within a field of view of the LiDAR system, wherein each respective set of light pulses comprises a plurality of light pulses in a temporal sequence, each respective light pulse being emitted by a respective light source of the plurality of light sources;
• a plurality of detectors disposed as an array, each respective detector corresponding to a rerspective light source, the plurality of detectors configured to detect a plurality of return light pulses, at least a subset of the plurality of return light pulses corresponding to the plurality of sets of light pulses that have been reflected off of one or more objects in the scene;
• and
• a processor coupled to the plurality of light sources and the plurality of detectors, the processor configured to:
• determine a time of flight for each respective return light pulse of the plurality of return light pulses;
• obtain a point cloud based on the times of flight of the plurality of return light pulses, the point cloud including a plurality of points representing one or more surfaces of the one or more objects, and the point cloud including a plurality of points from rain, fog, or snow, each respective point corresponding to a respective return light pulse;
• and
• for each respective point in the point cloud:
• analyze spatial and temporal relationships between the respective point and neighboring points in the point cloud;
• and
• evaluate a quality factor for the respective point based on the spatial and temporal relationships that distinguishes object poionts from the plurality of points from rain, for, or snow.