LIDAR systems and methods for generating a variable density point cloud

A method for generating point cloud data points using a LIDAR system, the method comprising:

• controlling at least one light source to emit a plurality of light bursts, wherein each of the plurality of light bursts includes a plurality of light pulses and wherein the plurality of light bursts emitted from the at least one light source are directed to at least one light deflector for scanning a field of view;
• controlling movement of the at least one light deflector to deflect the plurality of light bursts toward different portions of the field of view, wherein a first light burst of the plurality of the light bursts is directed to an object in a first portion of the field of view and a second light burst of the plurality of light bursts is directed to an object in a second portion of the field of view, wherein the first light burst and the second light burst include the same number of light pulses;
• receiving, from at least one sensor, first reflection signals associated with the first light burst and second reflection signals associated with the second light burst;
• determining, for the first light burst, a number of point cloud data points to generate based on the first reflection signals;
• determining, for the second light burst, a number of point cloud data points to generate based on the second reflection signals;
• generating a first set of point cloud data points comprising the number of point cloud data points determined for the first light burst;
• generating a second set of point cloud data points comprising the number of point cloud data points determined for the second light burst, wherein the number of point cloud data points in the first set is greater than the number of point cloud data points in the second set;
• and
• outputting the first set of point cloud data points and the second set of point cloud data points.

A LIDAR system, comprising:

• a housing mountable on a vehicle;
• at least one light source within the housing configured to emit a plurality of light bursts, wherein each of the plurality of light bursts includes a plurality of light pulses;
• at least one light deflector within the housing configured to scan a field of view by deflecting the plurality of light bursts toward different portions of the field of view, wherein a first light burst of the plurality of light bursts is directed to an object in a first portion of the field of view and a second light burst of the plurality of light bursts is directed to an object in a second portion of the field of view, wherein the first light burst and the second light burst include the same number of light pulses;
• at least one sensor configured to detect reflections of the projected light and to generate first reflection signals associated with the the first light burst and second reflection signals associated with the second light burst;
• and
• at least one processor programmed to:
• determine, for the first light burst, a number of point cloud data points to generate based on the first reflection signals;
• determine, for the second light burst, a number of point cloud data points to generate based on the second reflection signals;
• generate a first set of point cloud data points comprising the number of point cloud data points determined for the first light burst;
• generate a second set of point cloud data points comprising the number of point cloud data points determined for the second light burst, wherein the number of point cloud data points in the first set is greater than the number of point cloud data points in the second set;
• and
• output the first set of point cloud data points and the second set of point cloud data points.