Imaging lidar system

An apparatus for detecting and imaging an object enveloped by a backscattering medium which is at least partially transmitting to light comprising:

• generating means for selectively generating short pulses of light;
• projecting means for projecting said short pulses of light toward the backscattering medium and at an object enveloped by the medium;
• detecting means for detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;
• and
• converting means for converting said detected pulses of light to a video image of said object;
• wherein said detecting means further comprises;
• first detecting means for detecting a first image of the object against the backscattered light from the backscattering medium;
• second detecting means for detecting a second image of the shadow of the object against the backscattered light from the backscattering medium;
• and
• means for subtracting the first image from the second image to improve detectability and imaging of the object.

A method of detecting and imaging an object enveloped by a backscattering medium which is at least partially transmitting to light including the steps of:

• selectively generating short pulses of light;
• projecting said short pulses of light toward the backscattering medium and at an object enveloped by the medium;
• detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object wherein glint detection means is used to detect the leading edge of light reflected back from said object;
• and
• converting said detected pulses of light to a video image of said object.

A method of detecting and imaging an object enveloped by a backscattering medium which is at least partially transmitting to light including the steps of:

• selectively generating short pulses of light;
• projecting said short pulses of light toward the backscattering medium and at an object enveloped by the medium;
• detecting said pulses of light reflected back from said object using at least one camera means after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;
• gating said camera means on one pulse after the leading edge of the reflected light is detected;
• converting said detected pulses of light to a video image of said object.

A method of detecting and imaging from an airborne platform an object enveloped by water including the steps of:

• selectively generating short pulses of light from an airborne platform;
• projecting said short pulses of light toward the water and at an object enveloped by the water;
• detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;
• and
• converting said detected pulses of light to a video image of said object.

An apparatus for detecting and imaging an object enveloped by a backscattering medium which is at least partially transmitting to light comprising:

• generating means for selectively generating short pulses of light;
• projecting means for projecting said short pulses of light toward the backscattering medium and at an object enveloped by the medium;
• detecting means for detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;
• glint detection means for detecting the leading edge of light reflected back from said object;
• and
• converting means for converting said detected pulses of light to a video image of said object.

An apparatus for detecting and imaging an object enveloped by a backscattering medium which is at least partially transmitting to light comprising:

• generating means for selectively generating short pulses of light;
• projecting means for projecting said short pulses of light toward the backscattering medium and at an object enveloped by the medium;
• at least one camera means for detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object;
• gating means for gating said camera means on one pulse after the leading edge of the reflected light is detected;
• and
• converting means for converting said detected pulses of light to a video image of said object.

An apparatus for detecting and imaging an object enveloped by water comprising:

• generating means for selectively generating short pulses of light;
• projecting means for projecting said short pulses of light toward the water and at an object enveloped by the water;
• detecting means for detecting said pulses of light reflected back from said object after a time delay corresponding to the round-trip propagation time of said light pulses to and from said object, said generating means, projecting means and detecting means all being positioned on an airborne platform;
• and
• converting means for converting said detected pulses of light to a video image of said object.