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1 US10656252B1
Adaptive control of Ladar systems using spatial index of prior Ladar return data
Publication/Patent Number: US10656252B1 Publication Date: 2020-05-19 Application Number: 16/356,046 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, INC.   IPC: G01C3/08 Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a parameter value for use by the ladar system with respect to the new ladar pulse shot. Examples of such adaptively controlled parameter values can include shot energy, receiver parameters, shot selection, camera settings, and others.
2 US2020225324A1
Adaptive Ladar Receiver Control Using Spatial Index of Prior Ladar Return Data
Publication/Patent Number: US2020225324A1 Publication Date: 2020-07-16 Application Number: 16/356,079 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, Inc.   IPC: G01S7/48 Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a control parameter for use by the ladar receiver with respect to the new ladar pulse shot.
3 US10670718B1
System and method for synthetically filling ladar frames based on prior ladar return data
Publication/Patent Number: US10670718B1 Publication Date: 2020-06-02 Application Number: 16/356,116 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, INC.   IPC: G01S17/00 Abstract: Systems and methods are disclosed where a ladar system synthetically fills a ladar frame. A ladar transmitter can employ compressive sensing to interrogate a subset of range points in a field of view. Returns from this subset of range points correspond to a sparse ladar frame, and interpolation can be performed on these returns to synthetically fill the ladar frame.
4 US2020209400A1
Adaptive Control of Ladar Shot Energy Using Spatial Index of Prior Ladar Return Data
Publication/Patent Number: US2020209400A1 Publication Date: 2020-07-02 Application Number: 16/356,061 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, Inc.   IPC: G01S17/89 Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a shot energy for use by the ladar system with respect to the new ladar pulse shot.
5 US2020132818A1
ADAPTIVE CONTROL OF LADAR SYSTEMS USING SPATIAL INDEX OF PRIOR LADAR RETURN DATA
Publication/Patent Number: US2020132818A1 Publication Date: 2020-04-30 Application Number: 16/356,046 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, Inc.   IPC: G01S7/4863 Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a parameter value for use by the ladar system with respect to the new ladar pulse shot. Examples of such adaptively controlled parameter values can include shot energy, receiver parameters, shot selection, camera settings, and others.
6 US10656277B1
Adaptive control of ladar system camera using spatial index of prior ladar return data
Publication/Patent Number: US10656277B1 Publication Date: 2020-05-19 Application Number: 16/356,101 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, INC.   IPC: G01S17/89 Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help define a control setting for use by a ladar system camera.
7 US10598788B1
Adaptive control of Ladar shot selection using spatial index of prior Ladar return data
Publication/Patent Number: US10598788B1 Publication Date: 2020-03-24 Application Number: 16/356,089 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, INC.   IPC: G01S17/89 Abstract: Disclosed herein are examples of ladar systems and methods where data about a plurality of ladar returns from prior ladar pulse shots gets stored in a spatial index that associates ladar return data with corresponding locations in a coordinate space to which the ladar return data pertain. This spatial index can then be accessed by a processor to retrieve ladar return data for locations in the coordinate space that are near a range point to be targeted by the ladar system with a new ladar pulse shot. This nearby prior ladar return data can then be analyzed by the ladar system to help adapt a shot selection for use by the ladar system with respect to new ladar pulse shots.
8 US2020200878A1
System and Method for Synthetically Filling Ladar Frames Based on Prior Ladar Return Data
Publication/Patent Number: US2020200878A1 Publication Date: 2020-06-25 Application Number: 16/356,116 Filing Date: 2019-03-18 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Presutti, Federico   Benscoter joel david   Assignee: AEYE, Inc.   IPC: G01S7/481 Abstract: Systems and methods are disclosed where a ladar system synthetically fills a ladar frame. A ladar transmitter can employ compressive sensing to interrogate a subset of range points in a field of view. Returns from this subset of range points correspond to a sparse ladar frame, and interpolation can be performed on these returns to synthetically fill the ladar frame.
9 WO2019216937A3
INTELLIGENT LADAR SYSTEM WITH LOW LATENCY MOTION PLANNING UPDATES
Publication/Patent Number: WO2019216937A3 Publication Date: 2020-02-06 Application Number: 2018047199 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Greene, Jordan Spencer   Benscoter joel david   Assignee: AEYE, INC.   IPC: G05D1/02 Abstract: Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor's field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. Also disclosed herein is a ladar system that includes ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. Also disclosed are techniques where a ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses.
10 WO2019216937A9
INTELLIGENT LADAR SYSTEM WITH LOW LATENCY MOTION PLANNING UPDATES
Publication/Patent Number: WO2019216937A9 Publication Date: 2020-01-02 Application Number: 2018047199 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Greene, Jordan Spencer   Benscoter joel david   Assignee: AEYE, INC.   IPC: G05D1/02 Abstract: Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor's field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. Also disclosed herein is a ladar system that includes ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. Also disclosed are techniques where a ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses.
11 US202025887A1
Ladar System with Intelligent Selection of Shot List Frames Based on Field of View Data
Publication/Patent Number: US202025887A1 Publication Date: 2020-01-23 Application Number: 20/181,610 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Greene, Jordan Spencer   Benscoter joel david   Assignee: AEYE, Inc.   IPC: G02B26/10 Abstract: A ladar transmitter that transmits ladar pulses toward a plurality of range points in a field of view can be controlled to target range points based on any of a plurality of defined shot list frames. Each defined shot list frame can identify various coordinates in the field of view that are to be targeted by a ladar pulses for a given ladar frame. A processor can process data about the field of view such as range data and/or camera data to make selections as to which of the defined shot list frames should be selected for a given frame of ladar data.
12 US2020025886A1
Ladar Receiver with Co-Bore Sited Camera
Publication/Patent Number: US2020025886A1 Publication Date: 2020-01-23 Application Number: 16/106,374 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Benscoter joel david   Greene, Jordan Spencer   Assignee: AEYE, Inc.   IPC: G01S7/481 Abstract: Disclosed herein is a ladar system that includes a ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. In an example embodiment, a mirror can be included in the optical path between a lens and photodetector in the ladar receiver, where the mirror (1) directs light within the light from the lens that corresponds to a first light spectrum in a first direction for reception by the camera and (2) directs light within the light from the lens that corresponds to a second light spectrum in a second direction for reception by the photodetector, wherein the second light spectrum includes ladar pulse reflections for processing by the ladar system.
13 EP3682308A2
INTELLIGENT LADAR SYSTEM WITH LOW LATENCY MOTION PLANNING UPDATES
Publication/Patent Number: EP3682308A2 Publication Date: 2020-07-22 Application Number: 18918225.6 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Benscoter joel david   Greene, Jordan Spencer   Assignee: AEYE, INC.   IPC: G05D1/02
14 US10641900B2
Low latency intra-frame motion estimation based on clusters of ladar pulses
Publication/Patent Number: US10641900B2 Publication Date: 2020-05-05 Application Number: 16/106,406 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Benscoter joel david   Greene, Jordan Spencer   Assignee: AEYE, INC.   IPC: G01S17/931 Abstract: A ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses. For example, ladar pulses in a cluster can be spaced apart but overlapping with at least one of the other ladar pulses in that cluster at a specified distance in the field of view. A ladar receiver can then process the reflections from the cluster to computer intra-frame motion data, such as intra-frame velocity and intra-frame acceleration for an object.
15 US2020025887A1
Ladar System with Intelligent Selection of Shot List Frames Based on Field of View Data
Publication/Patent Number: US2020025887A1 Publication Date: 2020-01-23 Application Number: 16/106,441 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Benscoter joel david   Greene, Jordan Spencer   Assignee: AEYE, Inc.   IPC: G01S7/481 Abstract: A ladar transmitter that transmits ladar pulses toward a plurality of range points in a field of view can be controlled to target range points based on any of a plurality of defined shot list frames. Each defined shot list frame can identify various coordinates in the field of view that are to be targeted by a ladar pulses for a given ladar frame. A processor can process data about the field of view such as range data and/or camera data to make selections as to which of the defined shot list frames should be selected for a given frame of ladar data.
16 US10663596B2
Ladar receiver with co-bore sited camera
Publication/Patent Number: US10663596B2 Publication Date: 2020-05-26 Application Number: 16/106,374 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Benscoter joel david   Greene, Jordan Spencer   Assignee: AEYE, INC.   IPC: G01C3/08 Abstract: Disclosed herein is a ladar system that includes a ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. In an example embodiment, a mirror can be included in the optical path between a lens and photodetector in the ladar receiver, where the mirror (1) directs light within the light from the lens that corresponds to a first light spectrum in a first direction for reception by the camera and (2) directs light within the light from the lens that corresponds to a second light spectrum in a second direction for reception by the photodetector, wherein the second light spectrum includes ladar pulse reflections for processing by the ladar system.
17 US202025886A1
Ladar Receiver with Co-Bore Sited Camera
Publication/Patent Number: US202025886A1 Publication Date: 2020-01-23 Application Number: 20/181,610 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Greene, Jordan Spencer   Benscoter joel david   Assignee: AEYE, Inc.   IPC: G02B26/10 Abstract: Disclosed herein is a ladar system that includes a ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. In an example embodiment, a mirror can be included in the optical path between a lens and photodetector in the ladar receiver, where the mirror (1) directs light within the light from the lens that corresponds to a first light spectrum in a first direction for reception by the camera and (2) directs light within the light from the lens that corresponds to a second light spectrum in a second direction for reception by the photodetector, wherein the second light spectrum includes ladar pulse reflections for processing by the ladar system.
18 US201986514A1
Low Latency Intra-Frame Motion Estimation Based on Clusters of Ladar Pulses
Publication/Patent Number: US201986514A1 Publication Date: 2019-03-21 Application Number: 20/181,610 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Greene, Jordan Spencer   Benscoter joel david   Assignee: AEYE, Inc.   IPC: G01S17/02 Abstract: A ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses. For example, ladar pulses in a cluster can be spaced apart but overlapping with at least one of the other ladar pulses in that cluster at a specified distance in the field of view. A ladar receiver can then process the reflections from the cluster to computer intra-frame motion data, such as intra-frame velocity and intra-frame acceleration for an object.
19 US2019086514A1
Low Latency Intra-Frame Motion Estimation Based on Clusters of Ladar Pulses
Publication/Patent Number: US2019086514A1 Publication Date: 2019-03-21 Application Number: 16/106,406 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Benscoter joel david   Greene, Jordan Spencer   Assignee: AEYE, Inc.   IPC: G01S7/484 Abstract: A ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses. For example, ladar pulses in a cluster can be spaced apart but overlapping with at least one of the other ladar pulses in that cluster at a specified distance in the field of view. A ladar receiver can then process the reflections from the cluster to computer intra-frame motion data, such as intra-frame velocity and intra-frame acceleration for an object.
20 WO2019216937A2
INTELLIGENT LADAR SYSTEM WITH LOW LATENCY MOTION PLANNING UPDATES
Publication/Patent Number: WO2019216937A2 Publication Date: 2019-11-14 Application Number: 2018047199 Filing Date: 2018-08-21 Inventor: Dussan, Luis Carlos   Steinhardt, Allan   Greene, Jordan Spencer   Benscoter joel david   Assignee: AEYE, INC.   IPC: G01S17/93 Abstract: Systems and methods are disclosed for vehicle motion planning where a sensor, such as a ladar system, is used to detect threatening or anomalous conditions within the sensor's field of view so that priority warning data about such conditions can be inserted at low latency into the motion planning loop of a motion planning computer system for the vehicle. Also disclosed herein is a ladar system that includes ladar transmitter, ladar receiver, and camera, where the camera that is co-bore sited with the ladar receiver, the camera configured to generate image data corresponding to a field of view for the ladar receiver. Also disclosed are techniques where a ladar system can estimate intra-frame motion for an object within a field of view of the ladar system using a tight cluster of ladar pulses.