Multi-source lidar

Abstract

In a multi-source LiDAR, light from a first illumination source is reflected by rotating mirror into a first field of view, and light from a second illumination source is reflected by the rotating mirror into a second field of view. The second field of view can be arranged to partially overlap the first field of view to provide higher resolution in a region of interest.

1 . A system for LiDAR using multiple illumination sources and a rotating mirror, the system comprising:
 a first illumination source comprising a first plurality of lasers;   a second illumination source comprising a second plurality of lasers;   a mirror, wherein:
 the mirror is arranged to rotate; 
 the mirror is arranged to reflect light emitted from the first illumination source into an environment; 
 the mirror is arranged to reflect light emitted from the second illumination source into the environment; 
   a detector arranged to receive light emitted from the first illumination source, after light emitted from the first illumination source is reflected by the mirror into the environment; and   one or more memory devices comprising instructions that, when executed by one or more processors, performs a step for calculating a distance to an object in the environment based on the detector receiving the light emitted from the first illumination source.   
     
     
         2 . The system of  claim 1 , wherein:
 the mirror is arranged to direct light from the first illumination source into a first field of view;   the mirror is arranged to direct light from the second illumination source into a second field of view; and   the second field of view at least partially overlaps the first field of view.   
     
     
         3 . The system of  claim 2 , wherein the second field of view overlaps at least ⅛ or ¼ of the first field of view and does not overlap more than ⅞ or ¾ of the first field of view. 
     
     
         4 . The system of  claim 2 , wherein:
 the mirror comprises a first surface and a second surface; and   the second illumination source is arranged opposite the first illumination source so that the first illumination source illuminates the first surface of the mirror while the second illumination source illuminates the second surface of the mirror.   
     
     
         5 . The system of  claim 1 , wherein:
 the mirror comprises a first surface and a second surface; and   the second illumination source is arranged opposite the first illumination source so that the first illumination source illuminates the first surface of the mirror while the second illumination source illuminates the second surface of the mirror.   
     
     
         6 . The system of  claim 1 , wherein:
 the mirror comprises a first surface and a second surface; and   the second illumination source is arranged to illuminate the first surface of the mirror while the first illumination source illuminates the first surface of the mirror.   
     
     
         7 . The system of  claim 1 , wherein:
 the detector is a first detector;   the distance is a first distance;   the object is a first object;   the system comprises a second detector;   the second detector is arranged to receive light emitted by the second illumination source, after light from the second illumination source is reflected by the mirror into the environment; and   the one or more memory devices comprises instructions that, when executed by the one or more processors, performs a step for calculating a second distance to a second object in the environment based on the second detector receiving the light emitted by the second illumination source.   
     
     
         8 . The system of  claim 1 , wherein:
 the mirror is arranged to rotate about a vertical axis to reflect light from the first illumination source horizontally into a field of view; and   a side of the mirror is arranged to rotate vertically to reflect light from the first illumination source vertically into the field of view.   
     
     
         9 . The system of  claim 1 , further comprising a platform, wherein:
 the first illumination source is mounted to the platform; and   the platform is coupled with a fixed base using flexures.   
     
     
         10 . The system of  claim 1 , wherein:
 the first illumination source comprises:
 a first plurality of laser diodes arranged in a first region; and 
 a second plurality of laser diodes arranged in a second region; and 
   the first plurality of laser diodes are arranged in the first region in a higher density than the second plurality of laser diodes are arranged in the second region.   
     
     
         11 . The system of  claim 1 , further comprising a beam splitter between the first illumination source and the mirror. 
     
     
         12 . The system of  claim 1 , further comprising a first lens and a second lens, wherein:
 the first lens is characterized by a first focal length;   the second lens is characterized by a second focal length;   the first lens is positioned a first distance from the mirror;   the first distance is equal to the first focal length;   the second lens is positioned a second distance from the first lens; and   the second distance is equal to a sum of the first focal length and the second focal length.   
     
     
         13 . A method for LiDAR using multiple illumination sources, the method comprising:
 emitting light from a first illumination source, wherein the first illumination source comprises a first plurality of lasers;   emitting light from a second illumination source, wherein the second illumination source comprises a second plurality of lasers;   rotating a mirror;   reflecting, using the mirror, light from the first illumination source into an environment;   reflecting, using the mirror, light from the second illumination source into the environment; and   detecting, using a detector, light emitted from the first illumination source, after light emitted from the first illumination source is reflected into the environment.   
     
     
         14 . The method of  claim 13 , comprising:
 directing light from the first illumination source into a first field of view; and   directing light from the second illumination source into a second field of view, wherein the second field of view at least partially overlaps the first field of view.   
     
     
         15 . The method of  claim 13 , wherein:
 the mirror comprises a first surface and a second surface; and   the second illumination source is arranged opposite the first illumination source so that the first illumination source illuminates the first surface of the mirror while the second illumination source illuminates the second surface of the mirror.   
     
     
         16 . The method of  claim 13 , wherein:
 the first illumination source is mounted to a platform;   the platform is coupled with a fixed base using flexures; and   the method comprises translating the platform with respect to the fixed base while reflecting light from the first illumination source by the mirror.   
     
     
         17 . The method of  claim 13 , wherein:
 the first illumination source comprises:
 a first plurality of laser diodes arranged in a first region; and 
 a second plurality of laser diodes arranged in a second region; and 
   the first plurality of laser diodes are arranged in the first region in a higher density than the second plurality of laser diodes are arranged in the second region.   
     
     
         18 . The method of  claim 13 , comprising reflecting light from the first illumination source, using a beam splitter, before reflecting light from the first illumination source with the mirror. 
     
     
         19 . A system for LiDAR using multiple illumination sources and a rotating mirror, the system comprising:
 a first illumination source;   a second illumination source;   a mirror comprising a first side and a second side, wherein:
 the mirror is arranged to rotate; 
 the mirror is arranged to reflect light emitted from the first illumination source into an environment using the first side of the mirror; 
 the mirror is arranged to direct light from the first illumination source into a first field of view; 
 the mirror is arranged to reflect light emitted from the second illumination source into the environment using the second side of the mirror while the first side of the mirror is used to reflect light from the first illumination source; 
 the mirror is arranged to direct light from the second illumination source into a second field of view; and 
 the second field of view at least partially overlaps the first field of view; and 
   a detector arranged to receive light emitted from the first illumination source, after light emitted from the first illumination source is reflected by the mirror into the environment; and   one or more memory devices comprising instructions that, when executed by one or more processors, performs a step for calculating a distance to an object in the environment based on the detector receiving the light emitted from the first illumination source.   
     
     
         20 . The system of  claim 19 , wherein the second illumination source is arranged opposite the first illumination source so that the first illumination source illuminates the first side of the mirror while the second illumination source illuminates the second side of the mirror. 
     
     
         21 .- 49 . (canceled)