Camera-style lidar system and method

Abstract

An apparatus aspect of the disclosure includes a lidar transmitter emitting laser beams, and scan mirrors (or assemblies) angularly adjustable to deflect the beams in orthogonal directions. In one aspect, afocal optics magnify deflection, a transmitter aperture transmits the beam, and a lidar receiver doesn't share the transmitter aperture. In another aspect, auxiliary optics calibrate the deflection. A method aspect of the disclosure includes noticing and responding to a remote source, using a local laser, adjustable scan mirror or assembly, afocal deflection magnifier, transmission aperture and separate receiver. Method steps described include operating the receiver to notice and determine the location of the remote source, and controlling the transmitter to direct laser light back toward that location.

What is claimed: 
     
         1 . A method for noticing for and responding to a remote light source, said method utilizing a transmitter which includes a local radiation source that produces a laser beam, a scan mirror or scan-mirror assembly angularly adjustable to deflect the beam in at least two orthogonal directions, and an afocal optical unit for magnifying the beam deflection, said transmitter having an aperture for transmitting the beam; and a radiation receiver that does not share the transmitter aperture, and an additional receiver, said method comprising the steps of:
 operating the first-mentioned receiver to notice and determine a location of the remote source;   controlling the transmitter to direct the laser beam back toward the determined location; and   activating the additional receiver to collect and interpret reflected radiation of the back-directed laser beam, received from the location;   wherein the first-mentioned receiver and the additional receiver are sensitive in respective different wavelength bands, namely:   a first spectral waveband encompassing emissions of expected remote sources including but not necessarily limited to said remote light source; and   a second spectral waveband encompassing said laser beam.   
     
     
         2 . A method for noticing and responding to a remote light source, said method utilizing a transmitter which includes a local radiation source that produces a laser beam, a scan mirror or scan-mirror assembly angularly adjustable to deflect the beam in at least two orthogonal directions, and an afocal optical unit for magnifying the beam deflection, said transmitter having an aperture for transmitting the beam; and a radiation receiver that does not share the transmitter aperture; further utilizing an additional receiver, said method comprising the steps of:
 operating the receiver to notice and determine a location of the remote source; and controlling the transmitter to direct the laser beam back toward the determined location;   activating the additional receiver to collect and interpret reflected radiation of the back-directed laser beam, received from the location;   wherein the activating step comprises using the additional receiver in a lidar operating mode to determine return time of the laser beam and thereby distance of a reflecting object at the location.   
     
     
         3 . A method for noticing and responding to a remote light source, said method utilizing a transmitter which includes a local radiation source that produces a laser beam, a scan mirror or scan-mirror assembly angularly adjustable to deflect the laser beam in at least two orthogonal directions, and an afocal optical unit for magnifying the beam deflection, said transmitter having an aperture for transmitting the beam; and a radiation receiver that does not share the transmitter aperture; said method comprising the steps of:
 operating the receiver to notice and determine a location of the remote light source; and controlling the transmitter to direct the laser beam back toward the determined location; wherein the operating step comprises:
 fitting the centroid of an incoming radiation pattern to an expected shape, when the laser-beam divergence exceeds the per-pixel FOV.