Optical system for collecting distance information within field

Abstract

The invention relates to an optical system for collecting distance information within a field. Optical systems and methods for collecting distance information are disclosed. An example optical system includes: a first emitting optical device; a plurality of illumination sources; a pixel array including at least a first pixel column and a second pixel column, each pixel in the first pixel column being offset from an adjacent pixel in the first pixel column by a first pixel pitch, the second pixel column being horizontally offset from the first pixel column by the first pixel pitch, the second pixel column being vertically offset from the first pixel column by a first vertical pitch; and a set of input channels interposed between the first emission optics and the pixel array.

Description

[0001] This application is a divisional application of the invention patent application 202110688697.6, whose international application date is August 24, 2017, national application number is 201780062843.6, and invention name is “Optical system for collecting distance information within a field”.

[0002] Cross-references to related patent applications

[0003] This application claims priority to U.S. Provisional Application No. 62 / 379,130, filed on August 24, 2016, entitled “OPTICAL SYSTEM FOR COLLECTING DISTANCE INFORMATION WITHIN A FIELD,” the contents of which are incorporated herein by reference. Technical Field

[0004] The present invention relates generally to the field of optical sensors, and more particularly to new and useful system optics for collecting distance information in the field of optical sensors. Background Art

[0005] Light detection and ranging (LiDAR) systems have been used in a wide range of applications, such as agriculture, forest planning and management, environmental assessment, surveying, mapping, imaging, and vehicle automation. Unlike cameras, LiDAR systems can operate at night and in all weather conditions. In addition, LiDAR systems are not affected by low sun angles and can provide distance profiles directly based on the light returned from illuminated objects.

[0006] However, providing 2D or 3D distance information with higher accuracy, lower cost and faster results remains a challenge. Summary of the invention

[0007] The systems and methods according to various examples of the present disclosure provide solutions to the above-mentioned problems. An example optical system for collecting distance information includes: a first emitting optical device configured to collect illumination beams reflected from a field outside the optical system of multiple illumination sources; a pixel array including at least a first pixel column and a second pixel column, each pixel in the first pixel column is offset from an adjacent pixel in the first pixel column by a first pixel spacing, the second pixel column is horizontally offset from the first pixel column by the first pixel spacing, and the second pixel column is vertically offset from the first pixel column by a first vertical spacing; and an input channel set inserted between the first emitting optical device and the pixel array, the input channel set includes at least a first plurality of input channels and a second plurality of input channels, each input channel in the first plurality of input channels is configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the first pixel column, and each input channel in the second plurality of input channels is configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the second pixel column.

[0008] In one aspect of the present disclosure, a first emission optical device has a first focal length and defines a focal plane relative to the field. An input channel set includes: an aperture layer arranged to substantially coincide with the focal plane, the aperture layer including an aperture set including at least a first plurality of apertures and a second plurality of apertures; a lens set including at least a first plurality of lenses and a second plurality of lenses, each lens in the first plurality of lenses corresponding to one of the first plurality of apertures, each lens in the second plurality of lenses corresponding to one of the second plurality of apertures; and a filter arranged adjacent to the lens set and opposite to the aperture set.

[0009] In another aspect of the disclosure, each input channel in the set of input channels is coaxial with a corresponding pixel in the pixel array such that the set of input channels is positioned in a skewed grid array substantially similar to the pixel array.

[0010] In yet another aspect of the present disclosure, each input channel in the set of input channels includes a lens in the set of lenses and a corresponding aperture in the set of apertures, the lens being substantially aligned with the corresponding aperture.

[0011] In yet another aspect of the disclosure, each lens in the lens set has a second focal length and is configured to offset a focal plane relative to the first emission optical device by the second focal length and to collimate light having a wavelength substantially equivalent to an operating wavelength of the optical system.

[0012] In another aspect of the present disclosure, the optical system further comprises a second emission optical device. A plurality of illumination sources are positioned along a focal plane of the second emission optical device, each illumination beam projected by the second emission optical device having substantially the same size and geometry as the field of view of a corresponding input channel in the set of input channels.

[0013] In yet another aspect of the invention, the hole layer is separately fabricated by selectively metallizing a glass wafer and etching a set of holes into the metallized glass wafer.

[0014] In another aspect of the present disclosure, the pixel array is integrated on a semiconductor wafer. The first emission optical device and the input channel set are manufactured on the semiconductor wafer using at least one of a photolithography technique or a wafer-level bonding technique.

[0015] In yet another aspect of the present disclosure, the first pixel pitch is n times the first vertical pitch, where n is a positive integer.

[0016] In yet another aspect of the present disclosure, the optical system further includes an actuator configured to rotate the pixel array, the set of input channels, and the first emission optical device around a vertical axis. The actuator includes a rotary electric motor and an optical encoder, the rotary electric motor being configured to control the rotation speed of the pixel array, the set of input channels, and the first emission optical device based on an output of the optical encoder, the optical encoder being coupled to the pixel array via a closed-loop feedback circuit.

[0017] An example method for manufacturing an optical system for collecting distance information includes: providing a first emitting optical device configured to collect illumination beams reflected from a field outside the optical system by a plurality of illumination sources; providing a pixel array comprising at least a first pixel column and a second pixel column, each pixel in the first pixel column being offset from an adjacent pixel in the first pixel column by a first pixel pitch, the second pixel column being horizontally offset from the first pixel column by the first pixel pitch, and the second pixel column being vertically offset from the first pixel column by a first vertical pitch; and positioning a set of input channels interposed between the first emitting optical device and the pixel array, the set of input channels comprising at least a first plurality of input channels and a second plurality of input channels, each of the first plurality of input channels being configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the first pixel column, and each of the second plurality of input channels being configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the second pixel column.

[0018] An example method for collecting distance information includes using an optical system having: a first emitting optical device configured to collect illumination beams reflected from a field outside the optical system by a plurality of illumination sources; a pixel array including at least a first pixel column and a second pixel column, each pixel in the first pixel column being offset from an adjacent pixel in the first pixel column by a first pixel pitch, the second pixel column being horizontally offset from the first pixel column by the first pixel pitch, and the second pixel column being vertically offset from the first pixel column by a first vertical pitch; and a set of input channels interposed between the first emitting optical device and the pixel array, the set of input channels including at least a first plurality of input channels and a second plurality of input channels, each of the first plurality of input channels being configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the first pixel column, and each of the second plurality of input channels being configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the second pixel column.

[0019] An example method for collecting distance information includes providing an optical system having: a first emitting optical device configured to collect illumination beams reflected from a field outside the optical system by a plurality of illumination sources; a pixel array including at least a first pixel column and a second pixel column, each pixel in the first pixel column being offset from an adjacent pixel in the first pixel column by a first pixel pitch, the second pixel column being horizontally offset from the first pixel column by the first pixel pitch, and the second pixel column being vertically offset from the first pixel column by a first vertical pitch; and a set of input channels interposed between the first emitting optical device and the pixel array, the set of input channels including at least a first plurality of input channels and a second plurality of input channels, each of the first plurality of input channels being configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the first pixel column, and each of the second plurality of input channels being configured to transmit one of the collected illumination beams from the first emitting optical device to a corresponding pixel in the second pixel column. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 is a schematic representation of the system;

[0021] Figure 2 It is a schematic representation of a variation of the system;

[0022] Figure 3A and Figure 3B It is a variant graphical representation of the system;

[0023] Figure 4 is a schematic representation of a variation of the system; and

[0024] Figure 5A , Figure 5B , Figure 5C and Figure 5D It is a graphical representation of a variation of the system. DETAILED DESCRIPTION

[0025] The following description of the embodiments of the invention is not intended to limit the invention to these embodiments, but is intended to enable those skilled in the art to make and use the invention. The variations, configurations, implementations, example implementations, and examples described herein are optional and are not exclusive to the variations, configurations, implementations, example implementations, and examples described herein. The invention described herein may include any and all permutations of these variations, configurations, implementations, example implementations, and examples.

[0026] 1. System

[0027] like Figure 1 and Figure 2 As shown in , a system for collecting distance information within a field includes: a volume receiving optical device; a pixel block; a first set of input channels; and a second set of input channels. The pixel block includes: a first pixel column, each pixel in the first column is vertically offset from an adjacent pixel in the first column by a pixel pitch; and a second pixel column horizontally offset from the first column by the pixel pitch and vertically offset from the first column by a vertical pitch, each pixel in the second column is vertically offset from an adjacent pixel in the second column by the pixel pitch, and the vertical pitch includes a portion of the pixel pitch. The first set of input channels is inserted between the volume receiving optical device and the pixel block, and each input channel in the first set of input channels is configured to transmit light incident from the volume receiving optical device to a corresponding pixel in the first pixel column. The second set of input channels is horizontally offset from the first set of input channels and inserted between the volume receiving optical device and the pixel block, and each input channel in the second set of input channels is configured to transmit light incident from the volume receiving optical device to a corresponding pixel in the second pixel column.

[0028] 2. Application

[0029] The system functions as an image sensor that collects three-dimensional distance data for a volume occupied by the system while rotating about an axis parallel to the columns of pixels. In particular, during operation, the system can collect three-dimensional distance data during each scanning cycle in a series of scanning cycles, and these data can be reconstructed into a virtual three-dimensional representation of the volume occupied by the system, such as based on recording the time between emission of an illumination beam from an illumination source and detection of photons of the same or similar frequency or time pattern at each pixel or by implementing a phase-based measurement technique.

[0030] The system includes two or more pixel columns in a skewed grid array layout, wherein adjacent pixel columns are offset vertically and horizontally such that a set of pixels is projected onto a single vertical pixel column having one pixel per row. The system also includes an input channel per pixel, and the input channel transmits light from a common body receiving optical device to the pixel corresponding to the input channel. The system may also include an actuator that rotates the pixel block, the input channel, and the body receiving optical device about a vertical axis such that each pixel (and each corresponding input channel) traverses a unique circular path parallel to and vertically offset from the unique circular path traversed by every other pixel in the system during a single rotation of the rotary actuator (hereinafter referred to as a "scan cycle"). For each arc sampling period within the scan cycle, the system may collect data from each pixel at each of a plurality of arc sampling positions within a scan cycle, and combine the data collected from the plurality of pixel columns into a single vertical column of distances to an outer surface that is (roughly) within a single vertical plane that coincides with the axis of rotation of the system. Thus, the system can output data (e.g., distance values) in a format substantially similar to data output by a similar scanning system that includes only a single column of pixels. However, because the system includes multiple vertically offset and horizontally offset columns of pixels, each pixel in the system can define a greater height than a pixel in a similar scanning system having approximately the same overall height and including the same number of pixels at the same effective (vertical) pixel pitch, and can therefore include a greater number of detectors and exhibit a greater dynamic range.

[0031] The system can output a matrix of range values ​​at each scan cycle, wherein all range values ​​in a row of the matrix correspond to the output of a specific pixel in the pixel block, and wherein each range value in a row of the matrix corresponds to the output of the corresponding pixel at a unique angular position of the sensor block within a scan cycle. Because adjacent pixel columns in the system are horizontally and vertically offset from each other, the system fills each row of the matrix for a scan cycle with one range value at a time (i.e., per target angular sampling position) rather than simultaneously. The horizontal and vertical offsets between adjacent pixel columns also enable each pixel in the system to span a larger area (and therefore include more detectors) for a given effective vertical spacing of the system, thereby producing a relatively large ratio of dynamic range to size of the optical system. In addition, although the area of ​​each pixel on the pixel block spans a relatively large area, each pixel is paired with an input channel including an aperture that constrains the field of view of the pixel so that the pixel maintains a relatively high spatial selectivity. Therefore, the system can include horizontally and vertically offset pixel columns and corresponding input channels, enabling: high dynamic range through large pixel area; high spatial selectivity through small field of view of each pixel; and high resolution through small effective pixel vertical spacing within a compact system.

[0032] 3. Pixels

[0033] The system includes a plurality of pixels, and each pixel may include one or more detectors configured to detect incident light. For example, the pixels may output a count of incident photons, the time between incident photons, the time of incident photons (e.g., relative to the illumination output time), or other related data, and the system may convert these data into distances from the system to external surfaces in the field of view of these pixels. By combining these distances with the positions of the pixels from which these data originated and the relative positions of these pixels when these data were collected, the system (or other device accessing these data) can reconstruct a three-dimensional (virtual or mathematical) model of the space occupied by the system, such as in the form of a 3D image represented by a rectangular matrix of range values, where each range value in the matrix corresponds to a polar coordinate in 3D space.

[0034] Each detector within a pixel can be configured to detect a single photon per sampling period. Thus, a pixel can include multiple detectors in order to increase the dynamic range of the pixel; in particular, the dynamic range of the pixel (and therefore the system) can be increased as the number of detectors integrated into each pixel increases, and the number of detectors that can be integrated into a pixel can scale linearly with the area of ​​the pixel. For example, a pixel can include an array of single photon avalanche diode detectors ("SPADs"), such as 32 detectors on a 6x6 grid array, with one less detector in each of the four corners, such as Figure 4 For a detector having a diameter of ten microns, the pixel may define a footprint of approximately 400 microns square. However, the system may include any other type of pixel including any other number of detectors.

[0035] 4. Pixel Pattern

[0036] The system includes a pixel block, the pixel block including: a first column of pixels, each pixel in the first column being vertically offset from an adjacent pixel in the first column by a pixel pitch, and a second column of pixels being horizontally offset from the first column and vertically offset from the first column by a vertical pitch, each pixel in the second column being vertically offset from an adjacent pixel in the second column by the pixel pitch, the vertical pitch comprising a portion of the pixel pitch. In general, the pixel block includes a plurality of rows of pixels and a plurality of columns of pixels in a skewed grid array, wherein each column includes a plurality of pixels aligned vertically, and wherein each row corresponds to a unique vertical distance from a nominal axis of a body receiving optical device and includes a single pixel, such as Figure 1 , Figure 2 and Figure 4In particular, a pixel block may include multiple columns of pixels that are offset laterally and vertically (compared to a single column of pixels) to make each pixel taller and wider (thereby enabling each pixel to include a greater number of detectors and increasing the dynamic range of the system) without requiring a taller pixel block to accommodate this greater vertical spacing between pixels.

[0037] In one implementation, the pixel block and the pixels are integrated into a single integrated circuit. For example, the pixel block and the pixels may be defined in a single application specific integrated circuit (or "ASIC"). In this example, each input channel may include an aperture that limits the field of view of the corresponding pixel on the ASIC in order to achieve greater spatial selectivity of the pixel.

[0038] 4.1 Pixel Pattern: 32×2:

[0039] In one configuration, the system includes two pixel columns, such as a 32×2 pixel array and a corresponding 32×2 input channel array that share a common volume receiving optical device. In this configuration, the system can exhibit a volume resolution equivalent to that of a single column system including the same number of pixels arranged on a pixel block of approximately the same height with the same effective vertical pixel pitch, but the two column system can exhibit a larger dynamic range than the single column system. In particular, the pixels in the first column and the second column of the two column system can both be vertically offset by a second vertical pitch that is twice the first vertical pitch of the single column system (e.g., 200 microns versus 100 microns), and the second pixel column can be vertically offset from the first pixel column by half the second vertical pitch, thereby providing a space for the pixels in the two column system that is twice the height of the pixels in the single column system when the same number of pixels are arranged on a pixel block of approximately the same height. Thus, for square pixels, each pixel in a two-column system may define an area that is approximately four times the area of ​​a pixel in a single-column system, and thus may include approximately four times the number of detectors of a pixel in a single-column system, and thus may exhibit approximately four times the dynamic range of a pixel in a single-column system. For example, for a pixel block that is approximately 6400 microns tall and includes 64 pixels (i.e., a vertical pitch of 100 microns): the single-column system may include 64 100-micron square pixels, each pixel including four 50-micron wide detectors; while the two-column system may include a first column of 32 200-micron square pixels and a second column of 32 200-micron square pixels, each pixel including eight 50-micron wide detectors.

[0040] However, because the two-column system includes two columns of pixels, where both columns are horizontally offset from the horizontal center of the system (i.e., the y-axis of the pixel block), the pixels in the first column can exhibit a field of view (in the horizontal plane) that is angularly offset from the field of view of the pixels in the second column. Thus, the field of view of the pixels in the first column can be laterally offset by a greater amount from the field of view of the pixels in the second column at increasing distances from the system. Thus, the horizontal offset between two pixel columns sharing the same unitary receiving optical device can be displayed as an angular offset (in the horizontal plane) between the field of view of the first pixel column and the field of view of the second pixel column (hereinafter referred to as "horizontal distortion").

[0041] Furthermore, this horizontal distortion may not be uniform across pixels in a pixel column. In particular, the field of view of pixels in a first pixel column may be angularly offset from a central (e.g., normal) axis of the body lens based on the distance of the pixel from the central axis of the body optical device, such that pixels at the bottom of the first pixel column exhibit a maximum negative angular offset in the horizontal plane, and such that pixels at the top of the first pixel column exhibit a similar maximum positive angular offset in the horizontal plane. However, as described below, the system may compensate for this variation in the horizontal offset angle (e.g., "yaw" angle) of the field of view of pixels in each column in the correction matrix.

[0042] 4.2 Pixel Pattern: 16×4:

[0043] exist Figure 1 and Figure 2In another configuration shown, the system includes four pixel columns, such as a 16×4 pixel array and a corresponding 16×4 input channel array that share a common volume receiving optical device. In this configuration, the system can exhibit a volume resolution equivalent to that of a single-column system and a two-column system including the same number of pixels arranged on a pixel block of approximately the same height with the same effective vertical pixel pitch, but the four-column system can exhibit a larger dynamic range than the single-column system and the two-column system. In particular, the pixels in each column of the four-column system can be vertically offset by a fourth vertical pitch that is half the second vertical pitch of the two-column system (e.g., 400 microns versus 200 microns), and each pixel column in the four-column system can be vertically offset from an adjacent pixel column by one-quarter of the fourth vertical pitch, thereby providing space for pixels in the four-column system that is twice the height of the pixels in the two-column system with the same number of pixels arranged on a pixel block of approximately the same height. Thus, for square pixels, each pixel in a four-column system may define an area that is approximately four times the area of ​​a pixel in a two-column system, and therefore may include approximately four times the number of detectors of a pixel in a two-column system, and therefore may exhibit approximately four times the dynamic range of a pixel in a two-column system. In the above example, for a pixel block that is approximately 6400 microns tall and includes 64 pixels, the four-column system may include four pixel columns, each column including sixteen 400 micron square pixels, each pixel including thirty-two 50 micron wide detectors.

[0044] However, because a four-column system includes four columns of pixels, all of which are horizontally offset from the center of the system, the pixels in the leftmost column may exhibit a field of view in the horizontal plane that is angularly offset from the field of view of the pixels in the rightmost column by a greater amount (e.g., twice) than the angular offset in the horizontal plane between the fields of view of the pixels in the first and second columns of the two-column system described above. Thus, a four-column system may exhibit greater horizontal distortion than a two-column system, such as Figure 3A as shown in .

[0045] 4.3 Pixel Pattern: 8×8:

[0046] In yet another configuration, the system includes eight pixel columns, such as an 8×8 pixel array and a corresponding 8×8 input channel array that share a common volume receiving optical device. In this configuration, the system can exhibit a volume resolution equivalent to that of a single column system, a two column system, and a four column system including the same number of pixels arranged on a pixel block of approximately the same height with the same effective vertical pixel pitch, but the eight column system can exhibit a larger dynamic range than the single column system, the two column system, and the four column system. In particular, the pixels in each column of the eight column system can be vertically offset by an eighth vertical pitch that is twice the fourth vertical pitch of the four column system (e.g., 800 microns versus 400 microns), and each pixel column in the eight column system can be vertically offset from an adjacent pixel column by one-eighth of the eighth vertical pitch, thereby providing space for pixels in the eight column system that is twice the height of pixels in the four column system with the same number of pixels arranged on a pixel block of approximately the same height. Thus, for square pixels, each pixel in an eight-column system may define an area that is approximately four times the area of ​​a pixel in a four-column system, and thus may include approximately four times the number of detectors of a pixel in a four-column system, and thus may exhibit approximately four times the dynamic range of a pixel in a four-column system. In the example above, for a pixel block that is approximately 6400 microns tall and includes 64 pixels, the eight-column system may include eight pixel columns, each column including eight 800 micron square pixels, each pixel including ~120 50 micron wide detectors.

[0047] However, because the eight-column system includes eight columns of pixels, all of which are horizontally offset from the center of the system, the pixels in the leftmost column may exhibit a field of view in the horizontal plane that is angularly offset from the field of view of the pixels in the rightmost column by twice the angular offset in the horizontal plane between the fields of view of the pixels in the leftmost and rightmost columns of the four-column system. Thus, the eight-column system may exhibit greater horizontal distortion than the four-column system described above.

[0048] However, the system may include any other number of pixels arranged in any other number of columns or rows to achieve at least a threshold resolution, a minimum dynamic range, a maximum horizontal and / or vertical optical distortion, or a maximum width and / or height of the pixel block for the field of view of pixels on the periphery of the pixel block, etc.

[0049] 5. Body receiving optical device and input channel

[0050] like Figure 1 , Figure 3A and Figure 3BAs shown in , the system also includes: a body receiving optical device; a first input channel set inserted between the body receiving optical device and the pixel block, each input channel in the first input channel set being configured to transmit light incident from the body receiving optical device to a corresponding pixel in the first pixel column; and a second input channel set horizontally offset from the first input channel set and inserted between the body receiving optical device and the pixel block, each input channel in the second input channel set being configured to transmit light incident from the body receiving optical device to a corresponding pixel in the second pixel column. In general, the body receiving optical device is used to collect light (i.e., electromagnetic radiation) from outside the system; and each input channel is used to collect light from the body receiving optical device, filter such light, and pass light on a relatively narrow wavelength band to a corresponding pixel in the pixel block.

[0051] In one implementation, each input channel is coaxial with its corresponding pixel such that the first set of input channels and the second set of input channels are arranged in a skewed grid array substantially similar to the skewed grid array defined by the pixels, as described above. Each input channel may include: an aperture arranged on a focal plane; a filter configured to pass normally incident light at an operating frequency (or within a narrow operating frequency band); an input lens interposed between the aperture and the filter and configured to output collimated light to the filter; and an output lens adjacent to the filter, opposite to the input lens and configured to spread the light passed by the filter over corresponding pixels in the pixel block (and / or refocus the light passed by the filter into the active area of ​​the corresponding pixel). In general, the body receiving optical device, aperture, input lens, filter, and pixel cooperate to collect light (e.g., ambient light and light output by an illumination source), collimate such light, reject all light outside a narrow band including a central output wavelength of the illumination source (described below), and detect light reaching the pixel. Thus, the system can convert the incident photon count recorded by a particular pixel during a sampling period, the time between incident photons, the incident photon time relative to the illumination beam output time, and the like into the distance from the system to the external surface in the field of view of the particular pixel, as defined by the corresponding input channel and the volume receiving optical device.

[0052] In this implementation, the set of input channels can be defined in a single input block, the input block comprising: an aperture layer disposed behind the volume receiving optical device and defining an input hole for each input channel; a lens layer adjacent to the aperture layer, opposite to the volume receiving optical device and defining an input lens for each input channel that is substantially axially aligned with the corresponding input hole; and a filter adjacent to the lens layer, opposite to the aperture layer and spanning the lens layer. In this implementation, the volume receiving optical device is characterized by a volume focal length, which is offset from the focal plane and is used to project incident light from outside the system toward the focal plane. For example, the volume receiving optical device may include multiple lenses that cooperate to form a converging lens, such as one or more biconvex lenses (e.g., Figure 1 and Figure 4 ) and / or a plano-convex lens characterized by a particular body focal length at or near the center wavelength of the perpendicular rays passed by the filter (i.e., the "nominal operating wavelength of the system"). (The body receiving lens may also define a nominal axis perpendicular to the focal plane, as referenced below.)

[0053] Aperture layer: comprises a relatively thin opaque structure disposed behind the volume receiving optical device and coincident with the focal plane; and defines one aperture per input channel and a stop region around the aperture. The stop region of the aperture layer rejects (e.g., blocks, absorbs, reflects) incident light, and each aperture passes incident light toward the input lens corresponding to the aperture. For example, the aperture layer can define a set of apertures, where each aperture has a diameter close to the diffraction-limited diameter to maximize the geometric selectivity of the field of view of the system.

[0054] In this implementation, the input lens is characterized by a second focal length, the input lens is offset from the focal plane by the second focal length, collimates light passed by the aperture, and passes the collimated light to the filter. For example, the input block may include one input lens per channel, wherein each input lens includes a converging lens characterized by a ray cone that substantially matches a ray cone of a volume receiving optical device, and may be offset from the focal plane of the volume receiving optical device by a relatively short second focal length to preserve the aperture of the volume receiving optical device and collimate light passed by the corresponding aperture. The filter receives the collimated light in a wavelength spectrum from the input lens, passes a relatively narrow band of light (e.g., an operating wavelength of + / - 0.25 nanometers) to the corresponding pixel, and blocks (e.g., reflects, absorbs) light outside of this narrow band. For example, the filter may include a narrow optical bandpass filter.

[0055] In one example where the system includes an illumination source, as described below, the illumination source may output light (primarily) at a nominal wavelength of 900 nm, and the filter may define a planar optical bandpass filter configured to pass light between 899.95 nm and 900.05 nm (incident on the filter at an angle of 90°) and configured to substantially block all light outside of this band (incident on the filter at an angle of 90°). Thus, pixels in the set of pixels may receive light (i.e., "photons") passed by the filter during a sampling period, detect these incident photons, and output a signal corresponding to the number or rate of photons detected.

[0056] In this implementation, the body receiving optical device, the aperture layer, the lens layer, the filter, and the output lens can be manufactured and then aligned with the pixel block and mounted on the pixel block. In one example, the filter is manufactured by coating a fused quartz substrate. Then a photoactive optical polymer is deposited on the filter, a lens mold defining an array of lens forms is placed on the photoactive optical polymer, and a UV light source is activated to cure the photoactive optical polymer into a lens pattern across the filter. The standoff is similarly molded or formed across the filter via photolithography. The aperture layer is separately manufactured by selectively metallizing a glass wafer and etching holes into this metallization layer; the glass wafer is then bonded or otherwise mounted to these supports. In this example, the assembly is then reversed, and a second support set is similarly manufactured across the filter opposite to the lens layer. The pixel block (e.g., a discrete image sensor) is aligned with and bonded to the second support set; the body receiving optical device is similarly mounted on the aperture layer to complete the system.

[0057] Alternatively, the pixel blocks may be fabricated on a semiconductor wafer (e.g., in the form of an application specific integrated circuit), and the bulk receiving optics, aperture layer, lens layer, and filters may be fabricated directly on the semiconductor wafer—above the pixel blocks—via photolithography and wafer-level bonding techniques. However, the bulk receiving optics, aperture layer, lens layer, filters, and pixel blocks may be fabricated and assembled in any other manner and according to any other method or technique.

[0058] 6. Output circuit

[0059] like Figure 1 As shown in , the system may include an output circuit including a body-emitting optical device and an illumination source. In one implementation, the body-emitting optical device is: substantially identical to the body-receiving optical device in terms of material, geometry (e.g., focal length), optical properties, and / or thermal isolation; and is adjacent to the body-receiving optical device and laterally offset and / or vertically offset from the body-receiving optical device.

[0060] In one example, the illumination source includes a monolithic VCSEL array of optical emitters arranged behind a volume emission optical device. In this example, the illumination source can include a laser diode array defining columns of optical emitters, the columns of optical emitters characterized by an emitter pitch distance that is substantially equal to the aperture pitch distance. In this example, each optical emitter can output an illumination beam having an initial diameter that is substantially equal to (or slightly larger than) the diameter of a corresponding aperture in the aperture layer, and the illumination source can be arranged along the focal plane of the volume emission optical device so that each illumination beam in the field projected from the volume emission optical device to the front of the system has substantially the same size and geometry as the field of view of the corresponding input channel - and therefore the field of view of the corresponding pixel - at any distance from the system, as Figure 4 Thus, the illumination light source and the volume emission optics can cooperate to project the illumination beam substantially into the fields of view of the input channels, while relatively little or no light is projected outside of these fields of view of the input channels.

[0061] In this example, the system can selectively project an illumination beam into a field in front of the system according to an illumination pattern that substantially matches the field of view of an input channel (e.g., the field of view defined by the aperture) in terms of size and geometry over a range of distances from the system. Thus, the illumination source can substantially illuminate only surfaces in the field in front of the system that are within the field of view of corresponding pixels, minimizing power wasted by the system via the illumination source output by illuminating surfaces that are not visible to the pixels in the field. Additionally, the center output wavelength of the illumination source can be matched to the center wavelength passed by the filter. Thus, the system can achieve a relatively high ratio of signal (e.g., photons originating from the illumination source and delivered to pixels on the sensor block) to noise (e.g., photons that do not originate from the illumination source (such as ambient light) and delivered to pixels on the sensor block).

[0062] 7. Data Acquisition

[0063] During operation, the system can collect light data from a set of pixels during a single sampling period and convert the light data into a distance value. In one implementation, during a sampling period, the system: activates an illumination source of an output circuit to project light into the field of view of each pixel and input channel; records the time when the illumination source is activated ("illumination timestamp"); and reads each detector in each pixel, such as by storing in a memory the number of detectors in each pixel that record incident photons since the last sampling period and the time of incidence of these photons and then zeroing all detectors in each pixel. During the sampling period, the system can also calculate the distance to a surface in the field of view of the pixel based on the difference between the illumination timestamp and the time of the peak rate of incident photons since the last sampling period for each pixel in the set. For example, for each pixel, after the sampling period ends, the system can implement a time of flight technique to convert the illumination timestamp and the time of the peak incident photon rate at the pixel between the current sampling period and the last sampling period into a distance from the system to an external surface within the field of view of the pixel. However, the system may implement any other technical method to illuminate each pixel and input channel's field of view during a sampling period and process the data collected from the set of pixels into a distance value or related value.

[0064] The system may also include an actuator configured to rotate the pixel block, the input block, and the volume receiving optical device during operation. For example, the rotation actuator may include a rotational electric motor and an optical encoder; the pixel block, the input block, and the volume receiving optical device may be mounted as a unit on an output shaft of the rotational electric motor; and the system may implement a closed-loop feedback control to maintain the rotational speed of the rotational electric motor at 60 Hz (or 360 rpm) based on the output of the optical encoder.

[0065] As described below, the system can perform one sampling cycle at each of the plurality of arcuate sampling positions per single rotation of the pixel block. For example, at each 360° rotation of the pixel block (i.e., a scan cycle), the system can perform 2048 arcuate sampling positions and output a single nominal matrix containing 2048 columns of distance values, where the single nominal matrix generated during the scan cycle thus represents the distance from the system to the 360° outer surface around the sensor (at a certain viewing angle defined by the volume receiving optics and the plurality of pixels in each pixel column).

[0066] 8. Nominal Matrix

[0067] Because the system includes multiple pixel columns, the data output by the pixel set during a single sampling period corresponds to multiple columns of distance values, each column corresponding to a unique yaw angle relative to the pixel block. Similarly, because each pixel in the system is arranged at a unique vertical position (i.e., because the pixel array projects to a single non-overlapping pixel column), the data output by the pixel set during a single sampling period corresponds to multiple rows of distance values, where each row includes a single distance value and corresponds to a unique pitch angle relative to the pixel block. In particular, the system can assemble the data collected from the pixel set during a single sampling period into multiple incomplete columns of distance values, where each incomplete column of distance values ​​corresponds to a unique yaw angle.

[0068] However, the system may combine the distance values ​​generated from data collected from the second pixel column during the first sampling period with the distance values ​​generated from data collected from the first pixel column during the second sampling period to complete the second column distance values, such as Figure 5A and Figure 5B The system can repeat this process at each arcuate sampling position during a single rotation of the system (i.e., a single scanning cycle) to generate a matrix (or other data container) containing a complete column of distance values ​​for each non-overlapping pitch angle of each arcuate sampling position implemented by the system, as shown in Figure 5C and Figure 5D as shown in .

[0069] In one example, the system includes a 16×4 pixel array with a vertical offset Y between adjacent pixel columns and a pixel pitch 4Y in each pixel column, such as Figure 2 and Figure 4As shown in . In this example, for an angular offset of 0.176° between adjacent arc sampling positions, the system implements 2048 sampling cycles per rotation. At the first arc sampling position of 0°, the system performs a first sampling routine as described above. The system then: fills the [(1,1), (5,1), (9,1), ... (57,1) and (61,1)] positions in the distance matrix with distance values ​​calculated based on data received from the first pixel, second pixel, third pixel, fourth pixel, ... fifteenth pixel and sixteenth pixel in the first column, respectively, during the first sampling cycle; fills the [(2,2), (6,2), (10,2), ... (58,2) and (62, 2)] positions; using distance values ​​calculated based on the data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the third column, respectively, the positions [(3,3), (7,3), (11,3), ... (59,3) and (63,3)] in the distance matrix; and using distance values ​​calculated based on the data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the fourth column, respectively, the positions [(4,4), (8,4), (12,4), ... (60,4) and (64,4)] in the distance matrix, as shown in FIG. Figure 5A as shown in .

[0070] During the same scanning cycle, the rotary actuator rotates the pixel block to the next arc sampling position of 0.176°, and then the system performs a second sampling routine. During the second sampling period, the system: fills the [(1,2), (5,2), (9,2), ... (57,2) and (61,2)] positions in the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the first column during the second sampling period; fills the [(2,3), (6,3), (10,3), ... (58,3) and (61,2)] positions in the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the second column 2,3)] positions; fill the [(3,4), (7,4), (11,4), ... (59,4) and (63,4)] positions in the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the third column, respectively; and fill the [(4,5), (8,5), (12,5), ... (60,5) and (64,5)] positions in the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the fourth column, respectively, as Figure 5B The system repeats this process at each subsequent arc sampling position in the scanning cycle, such as Figure 5C and Figure 5D , so as to form a 2048×64 matrix containing 2048 columns, where each column corresponds to a unique yaw angle relative to the rotary actuator and contains 64 distance values, where each distance value in the column corresponds to a unique pitch angle relative to the pixel block, as shown in Figure 3B as shown in .

[0071] Thus, the system can construct a nominal matrix per scan cycle that contains columns of distance values ​​corresponding to each arcuate sampling position within a single 360° rotation of the pixel. In particular, the system can generate a nominal matrix per scan cycle that represents the distance of the surface from the pixel block around the axis of a full 360° rotation of the system. For example, the rotary actuator can rotate the system at a rate of 360 rpm, and the system can generate a nominal matrix every 16.7 milliseconds (i.e., at a rate of 60 Hz).

[0072] In addition, to achieve vertical alignment of the pixel columns at each sampling position, two adjacent pixel columns (and two corresponding input channel columns) can be horizontally offset by a horizontal spacing distance corresponding to the focal length of the volume receiving optics and the angular spacing between adjacent arcuate sampling positions. In one example, the pixel block includes a 16×4 pixel array, the volume receiving optics is characterized by a focal length of 10 mm, each input channel is coaxial with its corresponding pixel, and the system implements 2048 sampling cycles per scan cycle (i.e., per rotation). In this example, the angular offset between adjacent arcuate sampling positions is .176°, and the horizontal offset between adjacent pixel columns and adjacent corresponding aperture columns is 400 microns, so that the second pixel column at the second arcuate sampling position of .176° is vertically aligned with the first pixel column in the first arcuate sampling position of 0°. Therefore, during a single scan cycle, the system can sample all pixels at each of the 2048 arcuate sampling positions to collect 2048 columns of light data in a single 360° rotation.

[0073] 9. Distortion Correction

[0074] Because the system includes multiple laterally offset pixel columns that share a common volume receiving optics, the fields of view of pixels in two adjacent pixel columns may not share the same yaw angle relative to the pixel block, e.g. Figure 3A. Thus, a column in a nominal matrix constructed from data collected over a series of sampling periods during a scanning period may contain sets of distance values ​​representing a plurality of different true yaw angles relative to a block of pixels. For example, for the above system including a 16×4 skew grid pixel array, at a particular operating temperature: pixels in the first column may exhibit a field of view that is -.03° offset in yaw from the nominal axis of the body receiving optical device; pixels in the second column may exhibit a field of view that is -.01° offset in yaw from the nominal axis of the body receiving optical device; pixels in the third column may exhibit a field of view that is +.01° offset in yaw from the nominal axis of the body receiving optical device; and pixels in the fourth column may exhibit a field of view that is +.03° offset in yaw from the nominal axis of the body receiving optical device. In this example, at a particular operating temperature: the (1,1) distance value in the nominal matrix can therefore represent the distance to a surface in the field of view that is angularly offset -.03° in yaw from the nominal axis of the body receiving optical device; the (2,1) distance value in the nominal matrix can therefore represent the distance to a surface in the field of view that is angularly offset -.01° in yaw from the nominal axis of the body receiving optical device; ... the (63,1) distance value in the nominal matrix can therefore represent the distance to a surface in the field of view that is angularly offset +.01° in yaw from the nominal axis of the body receiving optical device; and the (64,1) distance value in the nominal matrix can therefore represent the distance to a surface in the field of view that is angularly offset +.03° in yaw from the nominal axis of the body receiving optical device.

[0075] Similarly, because pixels in a single column within the system are vertically offset but share common volume receiving optics, the fields of view of two adjacent pixels in one pixel column may not share the same elevation angle relative to the pixel block, as Figure 3B. Thus, a column in a nominal matrix constructed from data collected during a scanning cycle may contain a set of distance values ​​representing a plurality of different true yaw pitch angles relative to a pixel block. For example, for the above system comprising a 16×4 skew grid pixel array: the first pixel in the first column may exhibit a field of view that is offset by +.25° in pitch from the nominal axis of the body receiving optical device; the second pixel in the first column may exhibit a field of view that is offset by +.22° in pitch from the nominal axis of the body receiving optical device; … the sixteenth pixel in the first column may exhibit a field of view that is offset by -.25° in pitch from the nominal axis of the body receiving optical device; the first pixel in the second column may exhibit a field of view that is offset by +.243° in pitch from the nominal axis of the body receiving optical device; the second pixel in the second column may exhibit a field of view that is offset by +.235° in pitch from the nominal axis of the body receiving optical device; … the sixteenth pixel in the second column may exhibit a field of view that is offset by -.258° in pitch from the nominal axis of the body receiving optical device; and so on. In this example: Thus, the (1,1) distance value in the nominal matrix may represent the distance to a surface in the field of view that is angularly offset +.25° from the nominal axis of the body receiving optics in pitch; the (2,1) distance value in the nominal matrix may represent the distance to a surface in the field of view that is angularly offset +.243° from the nominal axis of the body receiving optics in pitch; the (3,1) distance value in the nominal matrix may represent the distance to a surface in the field of view that is angularly offset +.235° from the nominal axis of the body receiving optics in pitch; the (4,1) distance value in the nominal matrix may represent the distance to a surface in the field of view that is angularly offset +.228° from the nominal axis of the body receiving optics in pitch; the (5,1) distance value in the nominal matrix may represent the distance to a surface in the field of view that is angularly offset +.22° from the nominal axis of the body receiving optics in pitch; and so on.

[0076] Thus, the system can generate a nominal matrix containing distance values ​​corresponding to data collected by a set of pixels during a scanning cycle, the distance values ​​representing distances to surfaces in a field of view that is offset from a nominal axis of the volume receiving optics in both the pitch and yaw axes. In particular, the system can generate a column of distance values ​​that represents a single "ideal" yaw angle of 0° relative to the sensor block (e.g., similar to the field of view of a single pixel column), but actual horizontal offsets between pixel columns in the system can produce differences between such ideal yaw angle and the actual yaw angle of the field of view of the pixels represented in such distance value column in the nominal matrix; such differences can be displayed as distortions of the distance data along the horizontal axis. Similarly, pixels in a single pixel column can exhibit a field of view that increases in pitch angle offset from the nominal axis of the volume receiving optics as the distance from the center of the grid pixel array increases, which can be displayed as the lowest resolution at the first and last rows in the nominal matrix and as the maximum resolution at the center row(s) in the nominal matrix.

[0077] Thus, the system can pair the nominal matrix with a correction matrix that defines a pitch offset angle and a yaw offset angle for each entry in the nominal matrix. In particular, by combining the distance values ​​contained in the nominal matrix output during a scanning cycle with the corresponding angle values ​​contained in the correction matrix, the system (or other device) can calculate the position of the surface detected during the scanning cycle with improved accuracy. For example, for pixels in the first pixel column that exhibit a field of view that is offset from the nominal axis of the body receiving optical device in yaw by -.03°, the correction matrix can define a five centimeter correction to the left of the (1,1) distance value of 100 meters in the nominal matrix (e.g., 100 meters×sin(-.03°)=5.2 centimeters).

[0078] In addition, the pitch offset angle and the yaw offset angle of the field of view of each pixel in the system can vary with the focal length of the volume receiving optical device (i.e., be a function of the focal length of the volume receiving optical device), and the focal length of the volume receiving optical device can vary with the temperature of the system. Therefore, the system can pair a nominal matrix with a correction matrix based on the temperature of the system, such as for a volume receiving optical device including one or more polymer lenses. In one implementation, the system stores a set of preset correction matrices, wherein each correction matrix corresponds to a specific temperature and contains the pitch offset angle and the yaw offset angle of the field of view of each pixel in the system at the specific temperature. In this implementation, the system: may also include a temperature sensor thermally coupled to the volume receiving optical device; the temperature sensor may be sampled during operation (e.g., once per scanning cycle); and a nominal matrix generated from data collected during a scanning cycle may be paired with a correction matrix selected from the set of correction matrices corresponding to a temperature closest to the temperature of the volume receiving optical device recorded during the same scanning cycle. For example, for a system operating in a temperature range of 119° F. to 121° F., the system may include 21 preset correction matrices, each corresponding to one of 21 0.1° F. temperature steps between (including) 119° F. and 121° F. For example, each correction matrix may be generated empirically by characterizing the field of view of a pixel within the system at a selected operating temperature.

[0079] Alternatively, the system may implement a parametric model or other parametric function to generate a correction matrix based on the temperature of the volume receiving optics (or other elements within the system). However, the system may implement any other method or technique to pair a nominal matrix generated from data collected during a scanning cycle with a correction matrix representing the horizontal and vertical distortions of the data contained within the nominal matrix.

[0080] 10. Improved resolution

[0081] In one variation, the system increases the number of angular sampling positions performed per rotation in order to increase the resolution of the nominal matrix generated during a scan cycle. In one implementation, the system includes a skew grid pixel array in which adjacent columns of pixels (and corresponding columns of input channels) are laterally offset by a distance corresponding to X radial steps in a single rotation (e.g., 2048 steps at .176° between steps), but 2X equally spaced arc sampling positions are performed per full rotation (e.g., 4096 arc sampling positions per scan cycle at .088° between steps).

[0082] In the above example where the system includes a 16×4 pixel array, the system performs a first sampling routine at a first arc sampling position of 0° and then: fills the [(1,1), (5,1), (9,1), ... (57,1) and (61,1)] positions in the first column of the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the first pixel column, respectively, during the first sampling period; fills the [(2,3), (6,3), ... (7,4)] positions in the third column of the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the second pixel column, respectively; (10,3), ... (58,3) and (62,3)] positions in the fifth column of the distance matrix are filled with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the third pixel column respectively; and the positions [(4,7), (8,7), (12,7), ... (60,7) and (64,7)] positions in the seventh column of the distance matrix are filled with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the fourth pixel column respectively.

[0083] In this example, the rotary actuator rotates the pixel block, and once the pixel block reaches the next arc sampling position of 0.088°, the system performs a second sampling routine. The system then: fills the [(1,2), (5,2), (9,2), ... (57,2) and (61,2)] positions in the second column of the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the first pixel column during the first sampling period; fills the [(2,4), (6,4), (10,4), ... (58,4) and (62, 4)] positions; fill the [(3,6), (7,6), (11,6), ... (59,6) and (63,6)] positions in the sixth column of the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the third pixel column respectively; and fill the [(4,8), (8,8), (12,8), ... (60,8) and (64,8)] positions in the eighth column of the distance matrix with distance values ​​calculated based on data received from the first pixel, the second pixel, the third pixel, the fourth pixel, ... the fifteenth pixel and the sixteenth pixel in the fourth pixel column respectively.

[0084] The system repeats this process once upon reaching the third arc sampling position at .176°, then at the fourth arc sampling position at .264°, and for each subsequent arc sampling position in a complete rotation of the pixel block to form a 4096×64 matrix containing 4096 columns, where each column corresponds to a unique yaw angle relative to the rotary actuator and contains 64 distance values, where each distance value in a column corresponds to a unique pitch angle relative to the pixel block.

[0085] However, the system may perform sampling cycles at any other number of arcuate sampling locations during a complete rotation of the pixel block (e.g., during a complete scan cycle), and the system may implement any other method or technique for converting data collected from the set of pixels during a scan cycle into a nominal matrix of distances from the system to nearby external surfaces.

[0086] The system and method described herein can be implemented at least in part and / or implemented as a machine configured to receive a computer-readable medium storing computer-readable instructions. Instructions can be performed by a computer-executable component integrated with an application, a small application, a mainframe, a server, a network, a website, a communication service, a communication interface, a user's computer or a mobile device's hardware / firmware / software element, a wristband, a smart phone or any suitable combination thereof. Other systems and methods of an embodiment can be implemented at least in part and / or implemented as a machine configured to receive a computer-readable medium storing computer-readable instructions. Instructions can be performed by a computer-executable component integrated with the above-mentioned type of device and network. Computer-readable media can be stored on any suitable computer-readable medium, such as RAM, ROM, flash memory, EEPROM, optical device (CD or DVD), hard drive, floppy disk drive or any suitable device. Computer-executable components can be processors, but any suitable dedicated hardware device can (alternatively or additionally) execute instructions.

[0087] As those skilled in the art will recognize from the foregoing detailed description and from the accompanying drawings and claims, modifications and variations may be made to the embodiments of the invention without departing from the scope of the invention as defined in the following claims.

Claims

1. A method of using an optical system to generate an image represented by a distance matrix of distance values, wherein the optical system comprises a pixel array, the pixel array comprising a plurality of pixel columns of pixels, the pixel array being configured to scan during a scanning cycle, the method comprising: During each of a plurality of sampling periods corresponding to different angular sampling positions resulting from a scan of the pixel array: Projecting light from multiple illumination sources; generating light data from the pixel array by collecting illumination beams reflected from a field external to the optical system; calculating distance values ​​for pixels in the pixel array; as well as The distance values ​​at different angular sampling positions are used to generate a distance matrix of distance columns of distance values, wherein generating the distance matrix comprises: For each distance column of the distance matrix, the distance values ​​are: Distance values ​​in the distance column corresponding to different pixel columns at different sampling periods are used, wherein the number of distance values ​​in the distance column corresponds to the number of pixels in the pixel array, and wherein the number of distance columns in the distance matrix corresponds to the number of sampling periods during the scanning cycle.

2. The method according to claim 1, wherein: Each row of the distance matrix for a scan period is filled one distance value at a time.

3. The method according to claim 1, wherein: The plurality of sampling periods of the scanning cycle include a first sampling period and a second sampling period, The pixel array includes a first pixel column and a second pixel column, For a first sampling period corresponding to a first angular sampling position, calculating a first distance value for a pixel in the pixel array, For a second sampling period corresponding to a second angular sampling position, calculating a second distance value for a pixel in the pixel array, and Generating the distance matrix comprises: A specific distance column of the distance matrix is ​​populated with the first distance value corresponding to the second pixel column and the second distance value corresponding to the first pixel column.

4. The method according to claim 1, wherein: The angular offset between adjacent angular sampling positions and the horizontal angular offset between adjacent pixel columns are such that a first pixel column at a first angular sampling position is vertically aligned with a second pixel column at a second angular sampling position.

5. The method according to claim 1, wherein: The horizontal offset between adjacent pixel columns corresponds to the focal length of the volume receiving optics and the angular spacing between adjacent angular sampling positions.

6. The method according to claim 1, further comprising: The position of the surface reflecting the illumination beam is calculated by combining one or more distance values ​​in the distance matrix with one or more angular offset values ​​in the correction matrix.

7. The method according to claim 6, wherein: The correction matrix defines a pitch offset angle and a yaw offset angle for each entry in the distance matrix.

8. The method according to claim 6, wherein: Calculating the position of the surface includes multiplying the distance value by the angular offset value to determine a lateral distance offset from a nominal axis of a bulk receiving optics of the optical system.

9. The method according to claim 1, wherein: The second pixel column is vertically offset from the first pixel column by a first vertical spacing.

10. The method according to claim 9, wherein: Each pixel in the first pixel column is offset from an adjacent pixel in the first pixel column by a first pixel pitch, and wherein the second pixel column is horizontally offset from the first pixel column by the first pixel pitch.

11. An optical system for generating an image represented by a distance matrix of distance values, the optical system comprising: a volume receiving optical device having a focal length; a pixel array including a plurality of pixel columns of pixels configured to generate light data for use in calculating a distance value to an external surface; as well as an actuator that scans an angular sampling position through the pixel array and the volume receiving optics during a scan cycle, At least two pixel columns in the pixel array are offset by a horizontal pitch angle, the horizontal pitch angle corresponding to the horizontal distance between the pixel columns and the focal length of the body receiving optical device, wherein the horizontal pitch angle and the angular spacing between the angular sampling positions are such that a first pixel column at a first angular sampling position and a second pixel column at a second angular sampling position have a vertically aligned field of view for a single distance column of the distance matrix.

12. The optical system according to claim 11, further comprising: Circuitry configured to store distance values ​​from a scan cycle in a distance matrix that represents a scene with a horizontal resolution equal to the number of arcuate sampling positions of the scan cycle.

13. The optical system according to claim 12, wherein: The number of distance values ​​in the distance column of the distance matrix corresponds to the number of pixels in the pixel array.

14. The optical system according to claim 12, wherein: Each distance column of the distance matrix includes distance values ​​corresponding to different pixel columns at different sampling periods.

15. The optical system according to claim 12, wherein: The circuitry is configured to populate each row of the distance matrix with one distance value at a time for a scan cycle.

16. The optical system of claim 12, wherein: The circuit system is configured to: The position of the surface reflecting the illumination beam is calculated by combining one or more distance values ​​in the distance matrix with one or more angular offset values ​​in the correction matrix.

17. The optical system according to claim 16, wherein: The correction matrix defines a pitch offset angle and a yaw offset angle for each entry in the distance matrix.

18. The optical system according to claim 16, wherein: The focal length of the volume receiving optical device varies with temperature, and wherein a set of correction matrices corresponds to different temperatures.

19. The optical system of claim 11, wherein: Each pixel column corresponds to a unique horizontal angle with the nominal axis of the bulk receive optics.

20. The optical system of claim 11, wherein: The first pixel column is vertically offset from the second pixel column by a first vertical spacing.

21. An optical system comprising: an illumination source comprising a plurality of optical emitters, each of the plurality of optical emitters configured to project an illumination beam at an operating wavelength into a field external to the optical system; A pixel block including a plurality of pixels; a hole layer including a plurality of holes; as well as An electric motor operatively coupled to rotate the optical system about a full 360 degree rotational axis of the system.

22. The optical system of claim 21, wherein: The aperture layer and the pixel block are arranged to form a plurality of input channels, wherein each of the plurality of input channels comprises an aperture from the plurality of apertures and a pixel from the plurality of pixels, and wherein each input channel transmits light incident from a volume receiving optical device to the pixel of the input channel.

23. The optical system of claim 22, wherein: The illumination beams projected by the plurality of optical emitters combine to generate an illumination pattern that matches the field of view of the set of input channels in size and geometry over a range of distances from the optical system.

24. The optical system of claim 21, further comprising a volume receiving optic aligned to receive reflected photons from the illumination beam and to deliver the received photons to the pixel block.

25. The optical system of claim 24, further comprising a volume emission optical device, and wherein: Each of the plurality of optical emitters is aligned to project its illumination beam through the volume emission optics before being projected into a field external to the optical system.

Images