Wide-field-of-view static lidar

A method for processing a signal from a lidar, said lidar performing a time-of-flight measurement and comprising an emitting device configured to emit light pulses in the direction of a scene at an angle greater than or equal to 5° and a receiving device, said receiving device exhibiting an impulse response (hr(t)) and comprising a photodetector configured to receive pulses reflected or backscattered by at least one element (Ei) of the scene and to convert said pulses into an electrical signal, and an amplification circuit (CA) configured to generate an amplified electrical signal (s0(t)),

• the method comprising the steps of:
• A:
• digitizing the amplified electrical signal (s0e(t))
• B:
• applying at least one time correction function, referred to as the correcting filter (Ce(t)), to the digitizing amplified electrical signal in order to generate a processed signal (sf(t)),
• the correcting filter (Ce(t)) being determined based on the impulse response and a predetermined time analysis function, the analysis function having at least one non-zero value (a0, a1, a2), referred to as the discontinuity, at a given time referred to as the discontinuity time (td0, td1, td2), with a return to substantially zero values around the discontinuity,
• C:
• determining a distance (di) of said at least one element (Ei) based on the processed signal.

A time-of-flight lidar system comprising:

• an emitting device (DE) configured to emit light pulses towards a scene at an angle greater than or equal to 5°
• a receiving device (DR) having an impulse response (hr(t)) and comprising:
• a photodetector (PD) configured to receive pulses (Ir) reflected or backscattered by at least one element (Ei) in the scene, and to convert said pulses into an electrical signal,
• an amplification circuit (CA) configured to amplify said electrical signal,
• a processing unit (UT) of said amplified electrical signal configured to:
• digitize the amplified electrical signal (s0e(t))
• apply at least one time correction function, referred to as the correcting filter (Ce(t)), to the digitizing amplified electrical signal in order to generate a processed signal (sf(t)), the correcting filter (Ce(t)) being determined based on the impulse response (hr(t)) and a predetermined time analysis function, the analysis function having at least one non-zero value (a0, a1, a2), referred to as the discontinuity, at a given time referred to as the discontinuity time (td0, td1, td2), with a return to substantially zero values around the discontinuity;
• o determine a distance (di) of the at least one element (Ei) based on the processed signal.