A kit for adjusting field of view of lidar systems

Abstract

Disclosed herein is a kit for adjusting a central angle of a field of view of a LIDAR system, comprising: a LIDAR system and a one or more attachable optical adaptor elements. The LIDAR system comprises a scanning unit configured for scanning light emitted by one or more light sources of the LIDAR system toward a Field of View (FOV) of the LIDAR system having a central angle. The optical adaptor element(s) are configured to deflect the central axis of the FOV of the LIDAR system from a first angle to a second angle different from the first angle. The second angle is defined by one or more parameters of a mounting configuration of the LIDAR system. The optical adaptor element(s) is configured for fixed assembly downstream from the scanning unit.

Description

A KIT FOR ADJUSTING FIELD OF VIEW OF LIDAR SYSTEMSCROSS-REFERENCE TO RELATED APPLICATION

[0001] This application claims the benefit of U.S. Provisional Patent Application 63 / 667,724, filed July 4, 2024, which is incorporated herein by reference.TECHNICAL FIELD

[0002] The present disclosure relates to LIDAR technology for scanning a surrounding environment, and, more specifically, but not exclusively, to adjusting a Field of View (FOV) of LIDAR systems according to their mounting configuration for scanning a required surrounding environment.BACKGROUND

[0003] With the advent of driver assist systems and autonomous vehicles, automobiles need to be equipped with systems capable of reliably sensing and interpreting their surroundings, including identifying obstacles, hazards, objects, and other physical parameters that might impact navigation of the vehicle. To this end, various technologies have been suggested including, for example, Radio Detection and Ranging (RADAR), LIDAR, camera-based systems, and / or the like operating alone, in conjunctions and / or in a redundant manner.

[0004] A major challenge for LIDAR vendors, automakers, and / or vehicle OEMs relates to the need to comply with strict operational and performance requirements imposed on the LIDAR systems, specifically in light of the high diversity in deployment and / or mounting configurations of the LIDAR, for example, in vehicles including Autonomous Vehicles (AV), in monitoring posts, and / or the like, since the mounting configuration may dramatically affect the optical behavior, in particular the vertical and / or horizontal FOV of the LIDAR systems.SUMMARY

[0005] It is an object of the present disclosure to provide methods, systems, software program products, and / or kits for adjusting a Field of View (FOV) of LIDAR systems according to their mounting configuration on vehicles. This objective is achieved by the features of the independent claims. Further implementation forms are apparent from the dependent claims, the description, and the figures. It should be noted that multiple such implementation forms may be combined together to any single embodiment.

[0006] According to a first aspect of embodiments disclosed herein, there is provided a kit for adjusting a central axis of a field of view (FOV) of a LIDAR system, comprising a LIDAR systemcomprising a scanning unit configured for scanning light emitted by one or more light source of the LIDAR system toward a FOV of the LIDAR system, the FOV having a central axis, and one or more attachable optical adaptor elements configured to deflect the central axis of the FOV of the LIDAR system from a first angle to a second angle different from the first angle, the second angle is defined by one or more parameter of a mounting configuration of the LIDAR system. Wherein the one or more optical adaptor element is configured for fixed assembly downstream from the scanning unit.

[0007] According to a second aspect of embodiments disclosed herein, there is provided a method of adjusting a central axis of a FOV of a LIDAR system, comprising, receiving a kit for installing a LIDAR system, the kit includes the LIDAR system which comprises a scanning unit configured for scanning light emitted by one or more light source of the LIDAR system toward a FOV of the LIDAR system, and one or more attachable optical adaptor configured to deflect the central axis of the FOV of the LIDAR system from a first angle to a second angle different from the first angle, fixedly assembling the one or more optical adaptor element in the LIDAR system downstream from the scanning unit, and providing the adapted LIDAR system having the adjusted field of view. Wherein the second angle is defined by one or more parameter of a mounting configuration of the LIDAR system.

[0008] According to a third aspect of embodiments disclosed herein, there is provided a vehicle installed with one or more LIDAR system assembled using a kit for adjusting a central axis of a FOV of the LIDAR system. The LIDAR system comprises a scanning unit configured for scanning light emitted by one or more light sources of the respective LIDAR system toward the FOV of the respective LIDAR system having a common central axis. The kit comprises the LIDAR system and one or more attachable optical adaptor elements configured for fixed assembly in the LIDAR system downstream from the scanning unit. The one or more optical adaptor elements are configured for deflecting the central axis of the FOV of the LIDAR system from a first angle to a second angle different from the first angle. The second angle is defined by one or more parameters of a mounting configuration of the LIDAR system on the vehicle.

[0009] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements is assembled in the LIDAR system along an optical path between the scanning unit and the FOV of the LIDAR system.

[0010] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the LIDAR system is mounted in a plurality of mounting configurations using a plurality of respective kits. Each of the plurality of mounting configurations defines a respective one of a plurality of second angles. Wherein theone or more optical adaptor elements included in each kit are selected from a plurality of optical adaptor elements according to the respective second angle defined by the respective mounting configuration.

[0011] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the second angle comprises a vertical angle and / or a horizontal angle.

[0012] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the second angle is vertically shifted from the first angle by an angle in a range of +20 degrees to -20 degrees.

[0013] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the second angle is horizontally shifted from the first angle by an angle in a range of +20 degrees to -20 degrees.

[0014] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements are geometrically shaped for adjusting the central axis from the first angle to the second angle.

[0015] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements comprise a wedge prism.

[0016] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements are constructed from one or more materials having a refractive index selected for deflecting the central axis from the first angle to the second angle.

[0017] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements are assembled in the LIDAR system using one or more mechanical provisions of the LIDAR system.

[0018] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements are attached to an inner surface and / or an outer surface of a window of the LIDAR system through which the light scanned by the scanning unit is transmitted to the FOV of the LIDAR system.

[0019] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptorelements are attached to the window of the LIDAR using one or more adhesive materials having an optically matched refractive index.

[0020] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements are integrated with a window of the LIDAR system through which the light scanned by the scanning unit is transmitted to the FOV of the LIDAR system. The integrated window is configured for replacing a corresponding window of the LIDAR system.

[0021] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the one or more optical adaptor elements are further configured to adjust one or more additional optical parameters of the FOV of the LIDAR system. The one or more additional parameters are members of a group consisting of: an angular extent, and / or a resolution.

[0022] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, the LIDAR system is calibrated post assembly of the one or more optical adaptor elements using a reversing optical element configured to deflect the central axis of the FOV of the adapted LIDAR system from the second angle to the first angle.

[0023] In a further implementation form of the first, second and / or third aspects, optionally together with one or more of their related implementation forms, one or more processors are configured to generate a point cloud mapping one or more objects in the deflected central axis FOV of the LIDAR system. The one or more processors generate the point cloud using signal data received from one or more sensors of the LIDAR system. The signal data is indicative of light detected by the one or more sensor which is reflected from the FOV in response to the light emitted by the one or more light sources. Wherein the one or more processors are further configured to correct one or more distortion in the point cloud induced by the one or more optical adaptor elements assembled along the optical path between the scanning unit and the FOV of the LIDAR system.

[0024] In a further implementation form of the second aspect, optionally together with one or more of its related implementation forms, assembling the one or more optical adaptor elements comprises mounting the one or more optical adaptor elements along an optical path between the scanning unit and the FOV of the LIDAR system using one or more mechanical provisions of the LIDAR system.

[0025] In a further implementation form of the second aspect, optionally together with one or more of its related implementation forms, assembling the one or more optical adaptor elementscomprises replacing a window of the LIDAR system with a window integrating the one or more optical adaptor elements.

[0026] In a further implementation form of the third aspect, the vehicle is installed with two or more similar LIDAR systems each assembled using a respective kit for adjusting a central axis of a FOV of the respective LIDAR system. A first LIDAR system of the two or more similar LIDAR systems is mounted on the vehicle in a first mounting configuration for scanning a first FOV, and a second LIDAR system of the two or more similar LIDAR systems is mounted on the vehicle in a second mounting configuration for scanning a second FOV. The first LIDAR system is installed in the vehicle with one or more first attachable optical adaptor elements of a first kit. The one or more first optical adaptor elements are fixedly assembled in the first LIDAR system for deflecting the common central axis of the FOV of the first LIDAR system from a first angle to a second angle according to one or more parameters of the first mounting configuration such that the FOV of the first LIDAR system aligns with the first FOV. The second LIDAR system is installed in the vehicle with one or more second attachable optical adaptor elements of a second kit. The one or more second optical adaptor elements are fixedly assembled in the second LIDAR system for deflecting the common central axis of the FOV of the second LIDAR system from the first angle to a third angle according to one or more parameters of the second mounting configuration such that the FOV of the second LIDAR system aligns with the second FOV. Wherein the second and third angles are different from the first angle and the second angle is different from the third angle.

[0027] Consistent with other disclosed embodiments, non-transitory computer-readable storage media may store program instructions, which are executed by at least one processor and perform any of the methods described herein.

[0028] The foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various disclosed embodiments by way of example only. With specific reference now to the drawings in detail, it is stressed that the particulars are shown by way of example and for purposes of illustrative discussion of embodiments disclosed herein. In this regard, the description taken with the drawings makes apparent to those skilled in the art how disclosed embodiments may be practiced.

[0030] The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate various disclosed embodiments.

[0031] In the drawings:

[0032] FIG. 1 and FIG. 2 are schematic illustrations of an exemplary LIDAR system, in accordance with embodiments of the present disclosure;

[0033] FIG. 3 depicts schematic illustrations of an exemplary LIDAR system as known in the art;

[0034] FIG. 4 depicts schematic illustrations of exemplary kits for adjusting orientation of a FOV of a LIDAR system, in accordance with embodiments of the present disclosure;

[0035] FIG. 5A and FIG. 5B are schematic illustrations of exemplary optical adapter elements assembled in a LIDAR system for adjusting orientation of a FOV of the LIDAR system, in accordance with embodiments of the present disclosure;

[0036] FIG. 6A and FIG. 6B are images created based on trace data generated by sensors indicative of emissions received in response to light projected by a LIDAR system assembled with an optical adaptor element to adjust a FOV of the LIDAR system, in accordance with embodiments of the present disclosure;

[0037] FIG. 7 is a flow chart of an exemplary process for adapting a LIDAR system for adjusting its FOV according to a mounting configuration of the LIDAR system, in accordance with embodiments of the present disclosure;

[0038] FIG. 8 A and FIG. 8B are schematic illustrations of LIDAR systems adapted to adjust their FOV according to their mounting configurations, in accordance with embodiments of the present disclosure; and

[0039] FIG. 9 is a schematic illustration of an exemplary vehicle installed with a plurality of LIDAR systems each adapted to adjust the orientation of its FOV according to its mounting configuration, in accordance with embodiments of the present disclosure.DETAILED DESCRIPTION

[0040] The present disclosure relates to LIDAR technology for scanning a surrounding environment, and, more specifically, but not exclusively, to adjusting an FOV of LIDAR systems according to their mounting configuration for scanning a required surrounding environment.

[0041] LIDAR systems may be mounted in vehicles and autonomous vehicles in different mounting configurations, for example, front mounting, rear mounting, side mounting, grill mounting, headlight mounting, roof mounting, behind the windshield mounting, and more. In another example, mechanical and / or physical attributes of different vehicles may force different mounting configurations of the LIDAR system, for example, height, mounting surface angle, and / or the like. In another example, LIDAR systems used for security, surveillance and / or other monitoring applications may be mounted at different locations, typically static locations, having different mounting parameters, for example, elevation (height), view angle, blocking elements, and / or the like.

[0042] Moreover, the mounting configuration of the LIDAR systems may be derived, and / or affected by operational and / or performance requirements, for example, Field of View (FOV), range, and / or the like.

[0043] Complying with operational requirements, which may differ between deployments while mounted in a plurality of different mounting configurations may be highly challenging since the LIDAR system may need to be adapted for each mounting configuration and / or each set of operational requirements.

[0044] According to some embodiments of the present disclosure, there are provided methods, systems, devices, and kits for efficiently adapting LIDAR systems for mounting and / or installation in a plurality of different mounting configuration having different mounting parameters, for example, positioning, elevation, orientation, and / or the like and specifically for adapting a common (generic) LIDAR system for mounting in the plurality of mounting configurations while complying with one or more operational requirements defined for the LIDAR system which may vary between deployments of the LIDAR system.

[0045] The common LIDAR system may be adapted for each mounting configuration (deployment configuration) using a respective optical adaptor element which may be assembled and / or mounted in the LIDAR system in a fixed manner (i.e., static, permanent) downstream from a scanning unit of the LIDAR system on the optical path between the scanning unit and the area scanned by the LIDAR system, i.e., the FOV of the LIDAR system. The optical adaptor element may be configured to adjust orientation of the FOV of the LIDAR system vertically and / or horizontally such that the FOV may be oriented for scanning the environment of the LIDAR system according to the operational requirements defined for the respective deployment. Specifically, the optical adaptor element may be configured to adjust a central axis of the FOV of the LIDAR system from a first angle, typically the original angle of the FOV of the common LIDAR system, to a second angle as required by the operational requirements and the mounting configuration constraints.

[0046] This means that a respective optical adaptor element may be selected for each mounting configuration of the LIDAR system, according to the mounting parameters of each mounting configuration, from a plurality of optical adaptor elements configured to support a plurality of different mounting configurations.

[0047] In particular, a kit comprising the generic LIDAR system and a respective optical adaptor element selected according to a respective mounting configuration may be provided for each deployment. For example, a first kit comprising the LIDAR system and a first optical adaptor element may be selected for a mounting the LIDAR system in a first mounting configuration whilea second kit comprising the LIDAR system and a second optical adaptor element may be selected for a mounting the LIDAR system in a second mounting configuration.

[0048] The optical adaptor elements may employ one or more methods, structures, techniques, and / or implementations for adjusting the orientation of the FOV of the LIDAR system. For example, one or more optical adaptor elements may be geometrically shaped to deflect the central axis of the FOV so that the FOV is oriented to support the operational requirements defined for the LIDAR system, for example, a wedge prism, a lens, and / or the like. In another example, one or more optical adaptor elements may be constructed of one or more materials having a refractive index selected and / or configured to deflect the central axis of the FOV so that the FOV is oriented to support the operational requirements defined for the LIDAR system. Moreover, one or more of the optical adaptor elements may employ multiple adjustment means, for example, a selected geometric shape and material construction comprising one or more materials having selected refractive indexes.

[0049] One or more methods, techniques, and / or means may be used for fixedly assembling and / or mounting the optical adaptor element in the LIDAR system such that the optical adaptor element is statically placed in a fixed manner. For example, the optical adaptor element may be mounted in the LIDAR system using one or more mechanical provisions disposed in the LIDAR system, for example, a frame, a socket, a locking element, and / or the like. In another example, the optical adaptor element may be attached to an inner and / or outer surface of one or more windows associated with the LIDAR system, for example, a window of the LIDAR system through which light is projected by the scanning unit to the scene (FOV) and / or light is reflected back from the scene (FOV) to the scanning unit. Optionally, the optical adaptor element may be attached to the window surface using one or more optically index matched adhesive materials. In another example, the optical adaptor element may be assembled in the LIDAR system by replacing one or more windows associated with the LIDAR system with corresponding integrated windows integrating the optical adaptor element, for example, a wedge prism element, a prism element having a selected refractive index, and / or the like.

[0050] The adapted LIDAR system assembled with the optical adapter element may be typically calibrated and / or verified to ensure proper alignment and / or performance of the adapted LIDAR system comprising the optical adapter element.

[0051] Optionally, the adapted LIDAR system may be calibrated using one or more calibration and / or verifications units, collectively designated calibration equipment, which may be shared by a plurality of differently adapted LIDAR systems assembled with different optical adaptor elements. To this a plurality of reversing optical elements may be fabricated where each reversing optical element, for example, a prism, a wedge prism, a lens and / or the like may be configured torestore the optical characteristics, specifically the adjusted FOV orientation of a respective adapted LIDAR systems to the original FOV orientation of the generic LIDAR system before assembled with the respective optical adaptor element.

[0052] Providing kits comprising optical adaptor elements for efficiently adapting a common LIDAR system for a plurality of different mounting configurations may present major benefits and advantages over currently existing LIDAR systems and solutions.

[0053] First fitting and adapting a LIDAR system for deployment and mounting in a plurality of mounting configurations may be highly advantageous in order to enable deployment of the LIDAR system in a plurality of locations, in various configurations, for different applications, and / or to support different operational requirements.

[0054] The existing LIDAR systems and LIDAR vendors may employ several methods, architectures, and / or implementations to address the multiple mounting configurations challenge. For example, some LIDAR vendors offer different variants for a common LIDAR systems utilizing common architecture where each variant may be selected to support a respective one of a plurality of mounting configuration, specifically with respect to FOV orientation of the LIDAR system. In another example, some LIDAR vendors may provide custom LIDAR systems specifically configured to support each mounting configuration.

[0055] Designing, producing, maintaining, and / or storing many different LIDAR variants and custom designs may be very resource intensive in terms of costs, effort, time, and / or complexity, for example, design resources, production resources (multiple production lines, multiple test setups, etc.), inventory resources, supply chain and / or configuration management complexity, and more. In addition, each variant may have to undergo an individual verification, certification, regulation compliance, and / or the like which may be highly challenging, costly and time demanding, specifically in the automotive arena. In contrast, using a single variant of the LIDAR system and adapting it for each mounting configuration using a respective optical adapter element may significantly reduce costs, effort, time, and / or complexity since the same LIDAR system is used for all mounting configurations. In addition, certifying, and / or verifying a single LIDAR system may significantly reduce the verification, certification, and regulation compliance resources, costs, and / or time. The optical adaptor elements may be very simple elements typically very low cost and low maintenance thus not significantly increasing resources, costs, complexity, and / or time invested in their design, production, maintenance, verification, and / or certification.

[0056] Some LIDAR systems may support an increased angular rotation range thus having an extended FOV which is significantly larger than the FOV typical to LIDAR systems. For example, while typical LIDAR vertical FOV may be + / -15 degrees, +10 / -20 degrees, and / or the like, the extended FOV may encompass a vertical angular extent of + / -40 degrees. In such case, themounting configuration constraints of the extended FOV LIDAR system may be significantly relaxed such that the extended FOV LIDAR system support a range of different mounting configuration as long as the required FOV of the LIDAR system in its defined mounting configuration is included in (covered by) the extended FOV.

[0057] Some LIDAR systems may support dynamic adjustment of the orientation of their FOV. This is done using dynamically moveable optical elements which may be shifted, rotated, and / or otherwise moved to dynamically adjust the orientation of the FOV of the LIDAR system, specifically deflect the central axis of the FOV according to the mounting configuration of the LIDAR system in order to meet the operational requirements defined for the LIDAR system.

[0058] However, adding devices and / or components to LIDAR systems to extend their functionality and support extended FOV and / or dynamic FOV adjustment may lead to complex LIDAR systems which may increase unit cost, unit size, power consumption, and / or the like as well as design and / or production costs and complexity due to the additional hardware and / or functionality. In addition, reliability of such LIDAR systems may be significantly degraded due to the additional components and / or complex design. Using a simple common LIDAR system adaptable to support a plurality of different mounting configurations through the use of respective optical adaptor elements, on the other hand, may significantly reduce complexity, unit cost, unit size, and / or power consumption compared to the existing complex LIDAR systems. In addition, the simple LIDAR design may increase reliability of the LIDAR system compared to the complex LIDAR systems.

[0059] Moreover, using a common calibration and / or verification equipment for calibrating and / or verifying operational and performance of a plurality of differently adapted LIDAR systems, assembled with different optical adaptor elements for supporting different mounting configuration, may significantly reduce complexity, costs, design cycle, and / or the like of testing, calibration, verification, and / or certification since only one set of calibration equipment may be used. The plurality of reversing optical elements, used to restore the optical behavior of the adapted LIDAR systems such that the common calibration equipment may be used for all variants of the adapted LIDAR systems, may be simple elements which may impose insignificant costs, and / or complexity.

[0060] The following detailed description refers to the accompanying drawings. Wherever possible, the same reference numbers are used in the drawings and the following description to refer to the same or similar parts.

[0061] While illustrative embodiments are described herein, it is to be understood that these are not necessarily limited in their application to the details of construction and / or arrangement of the components, systems, or methods, since modifications, adaptations and other implementations arepossible. For example, as may be appreciated by one skilled in the art, substitutions, additions, and / or modifications may be made to the components illustrated in the drawings, and the illustrative methods described herein may be modified by substituting, reordering, removing, or adding steps to the disclosed methods.

[0062] Accordingly, the following detailed description is not limited to the disclosed embodiments and examples. Instead, the proper scope is defined by the appended claims.

[0063] Referring now to the drawings, FIG. 1 and FIG. 2 illustrating an exemplary LIDAR system 100, in accordance with embodiments of the present disclosure. The LIDAR system 100 may be used, for example, in one or more ground autonomous or semi-autonomous vehicles 110, for example, road-vehicles such as, for example, cars, buses, vans, trucks and any other terrestrial vehicle. Autonomous ground vehicles 110 equipped with the LIDAR system 100 may scan their environment and drive to a destination vehicle with reduced and potentially without human intervention. In another example, the LIDAR system 100 may be used in one or more autonomous / semi-autonomous aerial-vehicles such as, for example, Unmanned Aerial Vehicles (UAV), drones, quadcopters, and / or any other airborne vehicle or device. In another example, the LIDAR system 100 may be used in one or more autonomous or semi-autonomous water vessels and / or watercrafts such as, for example, boats, ships, hovercrafts, submarines, and / or the like. Autonomous aerial -vehicles and watercrafts with LIDAR system 100 may scan their environment and navigate to a destination autonomously or under remote human operation.

[0064] It should be noted that the LIDAR system 100 or any of its components may be used together with any of the example embodiments and methods disclosed herein. Moreover, while aspects of the LIDAR system 100 may be described herein with respect to an exemplary vehiclebased LIDAR platform, the LIDAR system 100, any of its components, or any of the processes described herein may be applicable to one or more LIDAR systems of other platform types. As such, LIDAR systems such as the LIDAR system 100 may be installed, mounted, integrated, and / or otherwise deployed, in dynamic and / or stationary deployment for one or more other applications, for example, a surveillance system, a security system, a monitoring system, and / or the like. Such LIDAR systems 100 may be configured to scan their environment in order to detect objects according to their respective application needs, criteria, requirements, and / or definitions.

[0065] The LIDAR system 100 be configured to detect tangible objects in an environment of the LIDAR system 100, specifically in a scene contained in a FOV 120 of the LIDAR system 100 based on reflected light, and more specifically, based on light projected by the LIDAR system 100 and reflected from objects in the FOV 120. The scene may include some or all objects within the FOV 120, in their relative positions and in their current states, for example, ground elements (e.g., earth, roads, grass, sidewalks, road surface marking, etc.), sky, man-made objects (e.g., vehicles,buildings, signs, etc.), vegetation, people, animals, light projecting elements (e.g., flashlights, sun, other LIDAR systems, etc.), and / or the like. An object refers to a finite composition of matter that may reflect light from at least a portion thereof. An object may be at least partially solid (e.g., car, tree, etc.), at least partially liquid (e.g., puddles on a road, rain, etc.), at least partly gaseous (e.g., fumes, clouds, etc.), made of a multitude of distinct particles (e.g., sandstorm, fog, spray, etc.), and / or a combination thereof. An object may be of one or more scales of magnitude, such as, for example, ~1 millimeter (mm), -5 mm, -10 mm, ~50 mm, -100 mm, -500 mm, -1 meter (m), ~5m, ~10m, ~50m, ~100m, and so on.

[0066] The LIDAR system 100 may be configured to detect objects by scanning the environment of the LIDAR system 100, i.e., illuminating at least part of the FOV 120 of the LIDAR system 100 with and collecting and / or receiving light reflected from the illuminated part(s) of the FOV 120. The LIDAR system 100 may scan the FOV 120 and / or part thereof in a plurality of scanning cycles (frames) conducted at one or more frequencies and / or frame rates, for example, 5 Frames per Second (fps), 10 fps, 15 fps, 20 fps, and / or the like.

[0067] Detecting an object may broadly refer to determining an existence of objects in the FOV 120 of the LIDAR system 100 which reflect light emitted by the LIDAR system 100 towards one or more light sensors, interchangeably designated detectors, associated with the LIDAR system 100. Additionally, or alternatively, detecting an object may refer to determining one or more physical parameters relating to the object and generating information indicative of the determined physical parameters, for example, a distance between the object and one or more other objects (e.g., the LIDAR system 100, another object in the FOV 120, ground (earth), etc.), a kinematic parameter of the object (e.g., relative velocity, absolute velocity, movement direction, expansion of the object, etc.), a reflectivity (level) of the object, and / or the like.

[0068] The LIDAR system 100 may detect objects by processing detection results based on sensory data (signal data) received from the sensor(s) which may be indicative of temporal information indicative of a period of time between the emission of a light signal by the light source(s) of the LIDAR system 100 and the time of detection of reflected light by the sensor(s) associated with the LIDAR system 100.

[0069] The LIDAR system 100 may employ one or more detection technologies. For example, the LIDAR system 100 may employ Time of Flight (ToF) detection where the light signal emitted by the LIDAR system 100 may comprise one or more short pulses, whose rise and / or fall time may be detected in reception of the emitted light after reflected by one or more objects in the FOV 120. In another example, the LIDAR system 100 may employ Continuous Wave (CW) detection, for example, Frequency Modulated Continuous Wave (FMCW), phase-shift continuous wave, and / or the like.

[0070] For various reasons, the LIDAR system 100 may detect only part of one or more objects present in the FOV 120. For example, light may be reflected from only some sides and surfaces of an object, for example, typically only the side(s) opposing the LIDAR system 200 may be detected by the LIDAR system 100. In another example, light emitted by the LIDAR system 100 may be projected on only part of an object, for example, a laser beam projected onto a road or a building. In another example, an object may be partly blocked and / or obscured by one or more other objects located between the LIDAR system 100 and the detected object. In another example, ambient light and / or one or more other interferences may interfere with detection of one or more portions of an object.

[0071] Optionally, detecting an object by the LIDAR system 100 may further refer to identifying the object, for example, classifying a type of the object (e.g., car, person, tree, road, traffic light, etc.), recognizing a specific object (e.g., natural site, structure, monument, etc.), determining a text value of the object (e.g., license plate number, road sign markings, etc.), determining a composition of the object (e.g., solid, liquid, transparent, semitransparent, etc.), and / or the like.

[0072] The FOV 120 scanned by the LIDAR system 100, i.e., the environment in which the LIDAR system 100 may detect objects, may include an extent of the observable environment of LIDAR system 100 in which objects may be detected. The extent of the FOV 120 may be defined by a horizontal range (e.g., 50°, 120°, 360°, etc.), and a vertical elevation (e.g., ±20°, +40°-20°, ±90°, 0°-90°, etc.). The FOV 120 may also be defined within a certain range, for example, up to a certain depth / distance (e.g., 100 m, 200 m, 300 m, etc.), and up to a certain vertical distance (e.g., 10 m, 25 m, 50 m, etc.).

[0073] The FOV 120 may be divided (segmented) into a plurality of portions 122 (segments), also designated FOV pixels, having uniform and / or different sizes. In some embodiments, as illustrated in FIG. 1 A, the FOV 120 may be divided into a plurality of portions 122 arranged in the form of a two-dimensional array of rows and columns. At any given time during a scan of the FOV 120, the LIDAR system 100 may scan an instantaneous FOV which comprises a respective portion 122. Obviously, the portion 122 scanned during each instantaneous FOV may be narrower than the entire FOV 120, and the LIDAR system 100 may thus move the instantaneous FOV within the FOV 120 in order to scan the entire FOV 120.

[0074] As seen in FIG. 1, the LIDAR system 100 may comprise an illumination unit 102, a scanning unit 104, a sensing unit 106, and a processing unit 108. According to some embodiments, the LIDAR system 100 may be mountable on a vehicle 110.

[0075] Optionally, the LIDAR system 100 may include one or more optical windows 124 for transmitting outgoing light projected by the LIDAR system 100 towards the FOV 120 and / or for receiving incoming light reflected from objects in FOV 120. The optical window(s) 124, forexample, an opening, a flat window, a lens, a prism, or any other type of optical element may be used for one or more purposes, for example, collimating the projected light, focusing of the reflected light, and / or the like.

[0076] The LIDAR system 100 may be contained in a single housing and / or divided among a plurality of housings separated from each other and interconnected via one or more communication channels, for example, a wired channel, a fiber optics cable, and / or the like deployed between housings, a wireless connection (e.g., RF channel, WLAN network, etc.), and / or any combination thereof. For example, the light related components of the LIDAR system 100, i.e., the illumination unit 102, the scanning unit 104, and the sensing unit 106 may be deployed and / or contained in a first housing while the processing unit 108 may be deployed and / or contained in a second housing. In such case, the processing unit 108 may communicate with the illumination unit 102, the scanning unit 104, and / or the sensing unit 106 via the communication channel(s) connecting the separate housings for controlling of the scanning unit 104 and / or for receiving from the sensing unit 106 sensory information indicative of light reflected from the scanned scene.

[0077] The LIDAR system 100 may employ one or more designs architectures, and / or configurations for the optical path of outbound light emitted by the illumination unit 102 and projected toward the scene, i.e., transmission path (TX) to the FOV 120 of the LIDAR system 100, and of inbound light reflected from objects in the scene and directed to the sensing unit 106, i.e., reception path (RX). For example, the LIDAR system 100 may employ bi-static configuration in which the outbound light emitted by the illumination unit 102 and projected by the LIDAR system 100 toward the scene and the inbound light reflected from the scene and entering the LIDAR system 100 pass through substantially different optical paths each comprising one or more optical components, for example, windows, apertures, lenses, mirrors, beam splitters, and / or the like.

[0078] In another example, as shown in FIG. 2, the LIDAR system 100 may employ monostatic configuration in which the outbound light and the inbound light share substantially the same optical path, i.e., light 204 emitted by the illumination unit 102 and projected by (exiting from) the LIDAR system 100 and light 206 reflected from the scene and entering the LIDAR system 100 pass through substantially similar optical paths sharing most if not all of the optical components on the common optical path.

[0079] In one or more monostatic configurations, the LIDAR system 100 may comprise one or more asymmetrical deflectors 216 configured not to deflect the projected light 204 emitted by the illumination unit 102 and deflect reflected light 206 toward the sensing unit 106. Optionally, the asymmetrical deflector 216 may be configured to prevent reflected light 206 from hitting the illumination unit 102, and to direct all the reflected light 206 toward the sensing unit 106, thereby increasing detection sensitivity. The asymmetrical deflector 216 may comprise one or more optical elements having two sidescapable of deflecting a beam of light hitting it from one side in a different direction than it deflects a beam of light hitting it from the second side. The asymmetrical deflector 216 may include, for example, a polarization beam splitter. In another example, the asymmetrical deflector 216 may include an optical isolator configured to allow passage of light in only one direction.

[0080] The illumination unit 102 may include one or more light sources 112 configured to emit light in one or more light forms, for example, a laser diode, a solid-state laser, a high-power laser, an edge emitting laser, a Vertical-Cavity Surface-Emitting Laser (VCSEL), an External Cavity Diode Laser (ECDL), A distributed Bragg reflector (DBR) laser, a laser array, and / or the like.

[0081] The light source(s) 112 may be configured and / or operated, for example, by the processing unit 108, to emit light according to one or more light emission patterns defined by one or more light emission parameters, for example, lighting mode (e.g., pulsed, CW, quasi-CW, etc.), light format (e.g., angular dispersion, polarization, etc.), spectral range (wavelength), energy / power (e.g., average power, maximum power, power intensity, instantaneous power, etc.), timing (e.g., pulse width (duration), pulse repetition rate, pulse sequence, pulse duty cycle, etc.), and / or the like.

[0082] Optionally, the illumination unit 102 may further comprise one or more optical elements associated with one or more of the light source(s) 112, for example, a lens, an aperture, a window, a light filter, a waveplate, a beam splitter, and / or the like for adjusting the light and / or light beams emitted by the light source(s) 112, or example, collimating, focusing, polarizing, and / or the like.

[0083] The scanning unit 104 may be configured to illuminate the FOV 120 and / or part thereof by projecting the light 204 emitted from the light source(s) 112 toward the scene thus serving as a steering element on the outbound path, i.e., the transmission path TX, of the LIDAR system 100 for directing the light emitted by the light source(s) 112 toward the scene.

[0084] The scanning unit 104 may be further used on the inbound path of the LIDAR system 100, i.e., the reception path RX, for directing the light (photons) 206 reflected from one or more objects 208 in at least part of the FOV 120 toward the sensing unit 106.

[0085] The scanning unit 104 may apply one or more scanning mechanisms, methods, and / or implementations for scanning the environment. For example, as seen in FIG. 2, the scanning unit 104 may scan the environment by moving and / or pivoting one or more deflectors 114 configured to deflect the light from the light source(s) 112 in differing directions toward different parts of the FOV 120. The light deflector(s) 114 may include one or more scanning mechanism, module, devices, and / or elements configured to cause the emitted light to deviate from its original path, for example, a mirror, a prism, a controllable lens, a mechanical mirror, a mechanical scanning polygon, an active diffraction (e.g., controllable LCD), a Risley prisms, a non-mechanical-electro- optical beam steering (such as made, for example, by Vescent), a polarization grating (such asoffered, for example, by Boulder Non-Linear Systems), an Optical Phase Array (OP A), and / or the like.

[0086] For example, the deflector(s) 114 may comprise one or more scanning polygons, interchangeable designated polygon scanner, having a plurality of facets, for example, three, four, five, six and / or the like configured as mirrors and / or prisms to deflect light projected onto the facet(s) of the polygon. In another example, the deflector(s) 114 may comprise one or more Micro Electro-Mechanical Systems (MEMS) mirrors configured to move by actuation of a plurality of benders connected to the mirror. In another example, the scanning unit 104 may include one or more non-mechanical deflectors 114, for example, a non-mechanical-electro-optical beam steering such as, for example, an OPA which does not require any moving components or internal movements for changing the deflection angles of the light but is rather controlled by steering, through phase array means, a light projection angle of the light source(s) 112 to a desired projection angle. It is noted that any discussion relating to moving or pivoting the light deflector(s) 114 is also applicable, mutatis mutandis, to controlling any type of light deflector 114, mechanical or other, such that it changes its deflection behavior.

[0087] In another example, the scanning unit 104 may scan the environment of the LIDAR system, specifically the FOV 120 by changing positioning (i.e., location and / or orientation) of one or more sensors associated with the LIDAR system 100 with respect to the FOV 120. In another example, the scanning unit 104 may scan the environment by changing positioning (i.e., location, orientation, etc.) of one or more of the light sources 112 with respect to the FOV 120. In another example, the scanning unit 104 may scan the environment by changing positioning one or more sensors and one or more light sources associated with the LIDAR system 100 with respect to the FOV 120.

[0088] At any given time, i.e., at any instantaneous point in time, during each scan cycle of the FOV 120 and / or part thereof, the deflector(s) 114 may be positioned in a respective instantaneous position defining a respective location, position, and / or orientation in space. Moreover, each instantaneous position of the deflector(s) 114 may correspond to a respective portion 122 of the FOV 120. This means that while positioned in each of a plurality of instantaneous positions during each scan cycle of the FOV 120 and / or part thereof, the deflector(s) 114 may scan a respective one of the plurality of portions 122 of the FOV 120, i.e., project light 204 towards the respective portion 122 and / or direct light (photons) reflected from the respective portion 122 toward the sensing unit 106.

[0089] The scanning unit 104 may be configured and / or operated to scan the FOV 120 and / or part thereof, on the outbound path and / or on the inbound path, at one or more scales of scanning. For example, the scanning unit 104 may be configured to scan the entire FOV 120. In another examplethe scanning unit 104 may be configured to scan one or more ROIs which cover part of the FOV 120, for example, 10%, 25%, and / or the like. Optionally, the scanning unit 104 may dynamically adjust the scanning scale, i.e., the scanned area, either between different scanning cycles and / or during the same scanning cycle.

[0090] Optionally, the scanning unit 104 may further include an optical system comprising one or more optical elements associated with the deflector(s) 114, for example, a lens, a prism, an aperture, a window, a light filter, a waveplate, a beam splitter, and / or the like for adjusting the light emitted by the light source(s) 112 and / or for adjusting the light reflected from the scene, for example, collimate the projected light 204, focus the reflected light 206, and / or the like.

[0091] The sensing unit 106 may include one or more sensors 116 configured to receive and sample light (photons) reflected from the surroundings of LIDAR system 100, specifically from the scene, i.e., the FOV 120, and generate reflection signals, interchangeably designated trace signals or trace data, indicative of light captured by the sensor(s) 116 which may include light reflected from one or more objects in the FOV 120 illuminated by the light projected from the LIDAR system 100.

[0092] The sensor(s) 116 may include one or more devices, elements, and / or systems capable of measuring properties of electromagnetic waves, specifically light, for example, energy / power, intensity, frequency, phase, timing, duration, and / or the like and generate output signals indicative of the measured properties. The sensor(s) 116 may be configured and / or operated to sample incoming light according to one or more operation modes, for example, continuous sampling, periodic sampling, sampling according to one or more timing schemes, and / or according to sampling instructions.

[0093] The sensor(s) 116 may include light sensors of one or more types and / or technologies and may thus have differing parameters, for example, sensitivity, size, recovery time, and / or the like. The sensor(s) 116 may include a plurality of light sensors of a single type, or sensors of multiple types selected according to their characteristics and operational parameters to comply with one or more detection requirements of the LIDAR system 100, for example, detection over a span of ranges (e.g., maximum range, close range, etc.), accuracy, reliability, dynamic range, temporal response, robustness against varying environmental conditions (e.g., temperature, rain, illumination, etc.), and / or the like.

[0094] For example, as seen in FIG. IB, a sensors 116, for example, a Silicon Photomultipliers (SiPM), a non-silicon photomultipliers, and / or the like, may include one or more light detectors constructed from a plurality of detecting elements 220, for example, an Avalanche Photodiode (APD), Single Photon Avalanche Diode (SPAD), and / or the like configured for detecting photons reflected back from the FOV 120. Each of the light detection elements 220 is configured to causean electric current to flow when light (photons) passes through an outer surface of the respective detection element 220.

[0095] The detecting elements 220 of each sensor 116 may be typically arranged in an array according to one or more arrangements over a detection area of the respective sensor 116, for example, a rectangular arrangement (as shown in FIG. IB), a square arrangement, an alternating rows arrangement, and / or the like. Optionally, the detecting elements 220 of each of one or more sensors 116 may be arranged in a plurality of regions which jointly cover the detection area of the respective sensor 116. Each of the plurality of regions may comprise a plurality of detecting elements 220, for example, SPADs having their outputs connected together to form a common output signal of the respective region.

[0096] The processing unit 108 may include one or more processors 118, homogenous or heterogeneous, each comprising one or more processing nodes and / or cores optionally arranged for parallel processing as clusters and / or as one or more multi core processor(s). The processor(s) 118 may execute one or more software modules such as, for example, a process, a script, an application, a (device) driver, an agent, a utility, a tool, an Operating System (OS), a plug-in, an add-on, and / or the like each comprising a plurality of program instructions stored in a non- transitory medium (program store) of the LIDAR system 100 and executed by one or more processors such as the processor(s) 118. The non-transitory medium may include, for example, persistent memory (e.g., ROM, Flash, SSD, NVRAM, etc.) volatile memory (e.g., RAM component, cache, etc.) and / or the like such as the storage 234 and executed by one or more processors such as the processor(s) 232.

[0097] Optionally, the processor(s) 118 may include, utilize and / or facilitate one or more hardware elements (modules), for example, a circuit, a component, an Integrated Circuit (IC), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), a Digital Signals Processor (DSP), a Graphic Processing Unit (GPU), an Artificial Intelligence (Al) accelerator and / or the like.

[0098] The processor(s) 118 may therefore execute one or more functional modules implemented using one or more software modules, one or more of the hardware modules and / or combination thereof. The functional modules executed by the processor(s) 118 may be configured, designed, and deployed for one or more applications, for example, configuration, operation, coordination, and / or the like of one or more of the functional elements of the LIDAR system 100 such as, for example, the illumination unit 102, the scanning unit 104, and / or the sensing unit 106. While the functional module(s) are executed by the processor(s) 118, for brevity and clarity, the processing unit 108 comprising the processor(s) 118 may be interchangeably described hereinafter to control functionality of the LIDAR system 100.

[0099] The processing unit 108 may communicate with the functional elements of the LIDAR system 100 via one or more channels, interconnects, and / or networks deployed in the LIDAR system 100, for example, a bus (e.g., PCIe, etc.), a switch fabric, a network, a vehicle network, and / or the like.

[0100] For example, the processing unit 108 may control the scanning unit 104 to scan the environment of the LIDAR system 100 according to one or more scanning schemes and / or scanning parameters, for example, extent (e.g., angular extent) of the FOV 120, extent (e.g., angular extent) of one or more regions of interest (ROI) within the FOV 120, maximal range within the FOV 120, maximal range within each ROI, maximal range within each region of non-interest, resolution (e.g., vertical angular resolution, horizontal angular resolution, etc.) within the FOV 120, resolution within each ROI, resolution within each region of non-interest, scanning mode (e.g., raster, alternating pixels, etc.), scanning speed, scanning cycle timing (e.g., cycle time, frame rate), and / or the like.

[0101] In another example, the processing unit 108 may be configured to coordinate operation of the light source(s) 112 with movement of the deflector(s) 114 for scanning the FOV 120 and / or part thereof. In another example, the processor(s) 118 may be configured to configure and / or operate the light source(s) 112 to project light according to one or more light emission patterns. In another example, the processor(s) 118 may be configured to coordinate operation of the sensor(s) 116 with movement of the deflector(s) 114 to activate one or more selected sensor(s) 116 and / or pixels according to the scanned portion of the FOV 120.

[0102] In another example, the processing unit 108 may be configured to receive the reflection signals generated by the sensor(s) 116 which are indicative of light captured by the sensor(s) 116 which may include light reflected from the scene specifically light reflected from one or more objects in the scanned FOV 120 and / or part thereof.

[0103] In another example, the processing unit 108 may be configured to analyze the trace signals (reflection signals) received from the sensor(s) 116 which are indicative light reflected from the scene including at least part of the light emitted by the LIDAR system 100. Based on analysis of the trace data, the processing unit 108 may extract depth data relating to the scene, i.e., in the FOV 120 and / or part thereof in order to detect one or more objects, conditions, and / or the like in the scanned FOV 120 and / or part thereof. For example, the processing unit 108 may analyze the trace data to determine a ToF of the reflected light 206, based on timing of outputs of reflection signals, specifically with respect to transmission timing of projected light 204, for example, light pulses, corresponding to the respective reflected light 206. In another example, analyzing the trace data may include determining a power of the reflected light, for example, average power across anentire return pulse, and a photon distribution / signal may be determined over the return pulse period (“pulse shape”).

[0104] Based on analysis of the trace data and the extracted depth data, the processing unit 108 may derive and / or determine one or more attributes of one or more objects detected in the scene. Such object attributes may include, for example, a distance between the LIDAR system 100 and the respective object from the LIDAR system 100, a reflectivity of the respective object, a spatial location of the respective object, for example, with respect to one or more coordinate systems (e.g., Cartesian (X, Y, Z), Polar (r, 9, (|)), etc.), and / or the like. Based on the trace data coupled with the scanning scheme of the scanning unit 104, i.e., the illuminated portion 122 of the FOV 120 to which the trace data relates, the processing unit 108 may therefore map the reflecting objects in the environment of the LIDAR system 100.

[0105] The processing unit 108 may combine, join, merge, fuse, and / or otherwise aggregate information, for example, depth data pertaining to different objects, and / or different features of objects detected in the scene in order to map the scene. For example, the processing unit 108 may be configured to generate and / or reconstruct one or more 3D models, interchangeably designated depth maps herein, of the environment of the LIDAR system 100, i.e., of objects scanned in the scene included in the FOV 120 and / or part thereof. The data resolution associated with the depth map representation(s) of the FOV 120, which may depend on the operational parameters of the LIDAR system 100, may be defined by horizontal and / or vertical resolution, for example, 0.1° x 0.1°, 0.3° x 0.3°, 0.1° x 0.5° of the FOV 120, and / or the like.

[0106] The processing unit 108 may generate depth map(s) in one or more forms, formats, and / or types, for example, a point cloud model, a polygon mesh, a depth image holding depth information for each pixel of a 2D image and / or array, and / or any other type of 3D model of the scene. A point cloud model (also known as point cloud) may include a set of data points located spatially which represent the scanned scene in some coordinate system, i.e., having an identifiable locations in a space described by a coordinate system, for example, Cartesian, Polar, and / or the like. Each point in the point cloud may be a dimensionless, or a miniature cellular space whose location may be described by the point cloud model using the set of coordinates.

[0107] A point cloud model may further include additional information for one or more and possibly all of its points, for example, reflectivity (e.g., energy of reflected light, etc.), color information, angle information, and / or the like. A polygon mesh or triangle mesh model may include, among other data, a set of vertices, edges and faces that define the shape of one or more 3D objects (polyhedral object) detected in the scanned scene. The processing unit 108 may further generate a sequence of depth maps overtime, i.e., a temporal sequence of depth maps, for example, each depth map in the sequence may be associated with a respective scanning cycle (frame). Inanother example, the processing unit 108 may update one or more depth maps over time based on depth data received and analyzed in each frame.

[0108] Optionally, the processing unit 108 may control the light projection scheme of the light emitted to the environment of the LIDAR system 100, for example, adapt, and / or adjust the light emission pattern and / or the scanning pattern, to improve mapping of the environment of the LIDAR system 100. For example, the processing unit 108 may control the light projection scheme such to illuminate differently different portions 122 across the FOV 120 in order to differentiate between reflected light relating to different portions 122. In another example, the processing unit 108 may apply a first light projection scheme for one or more first areas in the FOV 120, for example, an ROI and a second light projection scheme for one or more other parts of the FOV 120. In another example, the processing unit 108 may adjust the light projection scheme between scanning cycles (frames) such that a different light projection scheme may be applied in different frames, another example, the processing unit 108 may adjust the light projection scheme based on detection of reflected light, either during the same scanning cycle (e.g., the initial emission) and / or between different frames (e.g., successive frames), thus making the LIDAR system 100 extremely dynamic.

[0109] Optionally, the LIDAR system 100 may include a communication interface 214 comprising one or more wired and / or wireless communication channels and / or network links, for example, PCIe, Local Area Network (LAN), Gigabit Multimedia Serial Link (GMSL), vehicle network, InfiniBand, wireless LAN (WLAN), cellular network, and / or the like. Via the communication interface 214, the LIDAR system 100, specifically the processing unit 108 may transfer data and / or communicate with one or more external systems, for example, a host system 210, interchangeable designated host herein.

[0110] The host 210, which may include any computing environment comprising one or more processors 218 such as the processor 118 which may interface with the LIDAR system 100. For example, the host 210 may include one or more systems deployed and / or located in the vehicle 110 such as, for example, an ADAS, a vehicle control system, a vehicle safety system, a client device (e.g., laptop, smartphone, etc.), and / or the like. In another example, the host 210 may include one or more remote systems, for example, a security system, a surveillance system, a traffic control system, an urban modelling system, and / or other systems configured to monitor their surroundings. In another example, the host 210 may include one or more remote cloud systems, services, and / or platforms configured to collect data from vehicles 110 for one or more monitoring, analysis, and / or control applications. In another example, the host 210 may include one or more external systems, for example, a testing system, a monitoring system, a calibration system, and / or the like.

[0111] The host 210 may be configured to interact and communicate with the LIDAR system 100 for one or more purposes, and / or actions, for example, configure the LIDAR system 100, control the LIDAR system 100, analyze data received from the LIDAR system 100, and / or the like. For example, the host 210 may generate one or more depth maps and / or 3D models based on trace data, and / or depth data received from the LIDAR system 100. In another example, the host 210 may configure one or more operation modes, and / or parameters of the LIDAR system 100, for example, define an ROI, define an illumination pattern, define a scanning pattern, and / or the like. In another example, the host 210 may dynamically adjust in real-time one or more operation modes and / or parameters of the LIDAR system 100.

[0112] According to some embodiments disclosed herein, one or more LIDAR systems such as the LIDAR system 100 may be efficiently adapted for mounting and / or installation in each vehicle 110 according to a mounting configuration of the LIDAR system 100 which may differ between different vehicles. Each mounting configuration may be defined, dictated, and / or selected according to one or more parameters (mounting parameters), for example, positioning parameters such as, for example, a location of the LIDAR system 100 on the vehicle 110, an elevation of the LIDAR system 100 above ground when mounted on the vehicle 110, an orientation of the LIDAR system 100 when mounted on the vehicle 110, and / or the like.

[0113] Specifically, the different mounting configurations may define different orientations of the LIDAR system 100 with respect to the environment of the vehicle 110 such that its FOV 120 may be aligned with a required FOV. The orientation of the LIDAR system 100, the orientation of the FOV which depends on the front facing direction of the LIDAR system may translate to a central axis of the FOV 120 of the LIDAR system 100, i.e., the angle to a center point of the FOV 120 in the vertical and the horizontal axes of the FOV 120. The terms FOV orientation and central axis may therefore be used interchangeably herein after. The FOV may be defined by an angular rotation extent, for example, a vertical FOV (vFOV) angular range (e.g., + / -15 degrees), and / or a horizontal FOV (hFOV) angular range (e.g., + / -60 degrees). In another example, the FOV may also be defined within a certain range (e.g., up to 200m).

[0114] Reference is now made to FIG. 3, providing schematic illustrations of an exemplary LIDAR system as known in the art.

[0115] Illustrations 300, 302 and 304 depict an exemplary LIDAR system 100 A such as the LIDAR system 100, configured to scan an exemplary FOV 120A such as the FOV 120 having a central axis 310 to the center point of the FOV 120A.

[0116] The LIDAR system 100 A may include an illumination unit 102 A such as the illumination unit 102 comprising one or more light sources such as the light source 112 configured to emit one or more light beams, for example, eight light beams. The LIDAR system 100A may include ascanning unit 104 A such as the scanning unit 104 configured to project the light emitted by the illumination unit 102A toward the FOV 120A for scanning the FOV 120A and / or part thereof, as described herein before for the scanning unit 104, the scanning unit 404 may further utilize an optical system comprising one or more optical elements, for example, a lens, a prism, an aperture, a window, a light filter, a waveplate, a beam splitter, and / or the like.

[0117] The LIDAR system 100 A may further include a window 124 A such as the window 124 for transmitting outgoing light projected towards the FOV 120 A and / or for receiving incoming light reflected from objects in FOV 120 A illuminated by the projected light.

[0118] As seen in illustrations 300, 302, and 304, the scanning unit 104 A may be configured, and / or operated to deflect the light beams emitted by the illumination unit 102A for scanning the FOV 120A extending over an angular range of ±a from the central axis 310 of the FOV 120A. Illustration 300 shows the scanning unit 104 A deflecting the light beams directly forward along the central axis 310, illustration 302 shows the scanning unit 104A deflecting the light beams in an angle +a for scanning a top most section of the FOV 120A, and illustration 304 shows the scanning unit 104A deflecting the light beams in an angle — a for scanning a bottom most section of the FOV 120 A.

[0119] For brevity, the FOV 120A is described as symmetrically extending up and down from the central axis 310. However, the LIDAR system 100A may support non symmetric FOV configurations, for example, +a = 10 degrees and — a = 20 degrees, +a = 25 degrees and — a = 10 degrees, and / or the like.

[0120] It should be noted that illustrations 300, 302, and 304 are side views of the LIDAR system 100A showing a vertical FOV, i.e., a vertical extent of the FOV 120A spanning vertically across the angular range of ±a from the central axis 310, for example, + / -5 degrees, + / -10 degrees, + / - 15 degrees, and / or the like. However, as explained herein before, the FOV 120A similarly spans a horizontal FOV, i.e., a horizontal extent of the FOV 120A across an angular range of from the central axis 310, for example, 60 degrees, 80 degrees, 120 degrees, and / or the like.

[0121] The mounting parameters may relate to one or more aspects of the LIDAR system 100, specifically with respect to its mounting on a respective vehicle 110, i.e., the target vehicle 110 on which the LIDAR system 100 is to be mounted.

[0122] For example, one or more mounting parameters may be derived from one or more operational requirements and / or autonomous driving considerations of the LIDAR system 100 for the target vehicle 110, or even for a specific mounting configuration on the target vehicle 110 in case multiple LIDAR systems 100 are mounted on a single target vehicle 110 according to multiple different mounting configurations. For example, one or more of the operational requirements may define a certain FOV configuration for the LIDAR system 100 mounted on a certain vehicle 110,for example, a front facing FOV, a partially sideway facing FOV, a sideway facing FOV, an upward facing FOV, and / or the like. Each required FOV 120 may dictate one or more mounting parameters for mounting the LIDAR system 100 on the certain vehicle 110 which may be different from the mounting parameters dictated other FOV configurations.

[0123] In another example, one or more mounting parameters may be derived, dictated, and / or defined by one or more geometry attributes of the vehicle 110, i.e., physical, and / or mechanical attributes of the target vehicle 110. For example, assuming the LIDAR system 100 is roof mounted. In such case, in order to cover a substantially similar FOV 120 for a first vehicle having a flat roof surface and a second vehicle having a slopped roof surface, one or more mounting parameters, for example, an orientation of the LIDAR system 100 may differ for mounting the LIDAR system 100 on the first vehicle 110 compared to the orientation of the LIDAR system 100 mounted on the second vehicle 110. In another example, assuming the LIDAR system 100 is mounted at a first height (elevation) in a first vehicle 110 and at second height on a second vehicle. In such case, in order to cover a substantially similar front facing FOV 120 for the first vehicle and the second vehicle, one or more mounting parameters, for example, an orientation may differ for mounting the LIDAR system 100 on the first vehicle 110 compared to the orientation of the LIDAR system 100 mounted on the second vehicle 110.

[0124] In another example, a plurality of LIDAR systems 100 of the same type may be mounted on a single vehicle 110 in a plurality of different locations, positions, heights, and / or the like which may define multiple different mounting configurations.

[0125] Since the LIDAR system 100 may be mounted on a plurality of different vehicles 110, and / or be subject to a plurality of different operational parameters, there may be a plurality of different mounting configurations for the LIDAR system 100. In order to accommodate mounting of the LIDAR system 100 in the plurality of different mounting configurations, the LIDAR system 100 may therefore need to be adapted for each mounting configuration.

[0126] Existing LIDAR systems and LIDAR vendors employ several methods, architectures, and / or implementations to address the multiple mounting configurations challenge.

[0127] For example, some LIDAR systems are offered in a plurality of different variants each adapted for a respective center angle of its FOV 120. In another example, custom LIDAR systems may be specifically designed for each mounting configuration to provide a required FOV 120.

[0128] In another example, a LIDAR system may be designed with an increased angular rotation extent (range) thus supporting an extended FOV 120 such that it may cover a vertical and / or horizontal angular extent which is significantly extended (larger) compared to the angular range of FOVs 120 typical to LIDAR systems. Such extended angular extent LIDAR systems may be therefore mounted in significantly less strict and limiting mounting configurations since they maybe mounted with their central axis not directly pointing to the center of the required FOV 120 but rather at a central axis such that the extended FOV encompasses the entire required FOV 120 which is significantly smaller. For example, a certain LIDAR system may support an extended vertical FOV of + / -50 degrees from its central axis such that typical FOVs 120, for example, + / - 15 degrees may be included in the extended vertical FOV with vertical central axis of the required FOV 120 ranging from +35 degrees to -35 degrees. The required FOV 120 may be then defined and / or selected in the extended FOV of the LIDAR system. For example, the LIDAR system may be operated to scan only part of its extended FOV which corresponds to the required FOV 120. In another example, while the LIDAR system may scan its extended FOV, only light reflected from the required FOV 120 may be captured, and / or analyzed.

[0129] In another example, a LIDAR system may comprise one or more FOV adjustment optical elements configured to dynamically deflect the central axis of the FOV 120 according to the mounting configuration of the LIDAR system. For example, an exemplary such LIDAR system may be configured to scan a maximal vertical FOV of + / -15 degrees from its FOV central axis. This exemplary LIDAR system may include a FOV adjustment optical element configured to deflect the central axis of the vertical FOV in a range of + / -30 degrees. This exemplary LIDAR system may be therefore mounted in a significantly less demanding mounting configuration which supports a maximal vertical FOV of + / -45 degrees encompassing a + / -15 degrees required vertical FOV 120 at a certain central axis. During operation of the LIDAR system, the FOV adjustment optical element may be operated to dynamically deflect the central axis of the LIDAR system’s FOV to align with the central axis of the required FOV 120.

[0130] These existing solutions for adapting the LIDAR systems to required FOV may significantly increase costs, effort, and / or complexity. For example, designing, maintaining, and / or producing a plurality of different variants of the same LIDAR system and / or custom LIDAR systems may significantly increase non-recurring costs, production and supply chain control resources and complexity, inventory, and / or the like. In another example, adding devices, and / or components to LIDAR systems to support extended FOV and / or dynamic FOV adjustment may significantly increase unit cost, size, power consumption, and / or the like as well as design and / or production cost and complexity due to the additional hardware.

[0131] In order to overcome these limitations and still support a plurality of different mounting configurations using a common LIDAR system, according to embodiments disclosed herein, a kit is provided for assembling LIDAR systems such as the LIDAR system 100 for mounting in a plurality of mounting configurations. In particular, the kit comprises a generic LIDAR system and one or more attachable optical adaptors (adaptor elements) configured for fixed assembly in the LIDAR system for adjusting the orientation of the FOV 120 of the LIDAR system for each specificmounting configuration, which is referred to herein after as deflecting the central axis of the FOV 120.

[0132] Each kit may be provided for each mounting configuration. While each kit may comprise the same (generic) LIDAR system, the attachable optical adaptor element(s) included in each kit may be selected from a plurality of optical adaptor elements according to one or more mounting parameters of the respective mounting configuration in which the LIDAR system is to be mounted on a vehicle. Specifically, the optical adaptor element(s) included in each kit may be configured to deflect the central axis of the FOV 120 of the generic LIDAR system from a first angle to a second angle different from the first angle where the second angle is defined by one or more (mounting) parameters of the respective mounting configuration of the LIDAR system of the respective kit on a vehicle. To this end, the optical adaptor element(s) may be fixedly (static, and / or permanent) mounted in the LIDAR system downstream from the scanning unit of the LIDAR system and along the optical path of the LIDAR system between the scanning unit and the FOV of the LIDAR system.

[0133] Reference is now made to FIG. 4, which depicts schematic illustrations of exemplary kits for adjusting orientation of a FOV of a LIDAR system, in accordance with embodiments of the present disclosure, in accordance with embodiments of the present disclosure.

[0134] One or more kits 450 may be provided for assembling an exemplary LIDAR system 400 such as the LIDAR system 100 for mounting in one or more mounting configurations in one or more vehicles such as the vehicle 110.

[0135] For example, an exemplary kit 450A may be provided for assembling the LIDAR system 400 in a vehicle 110 in a first mounting configuration for scanning a FOV 420A such as the FOV 120 having a central axis 410A. The kit 450A may include the LIDAR system 400 and one or more optical adaptor elements, for example, an optical adaptor element 430A configured for assembly in the LIDAR system 400 for deflecting the central axis of the LIDAR system 400 to align with the angle 410A.

[0136] Another exemplary kit 450B may be provided for assembling the LIDAR system 400 for mounting on a vehicle in a second mounting configuration for scanning a FOV 420B such as the FOV 120 having a central axis 410B. The kit 450B may include the LIDAR system 400 and one or more optical adaptor elements, for example, an optical adaptor element 430B configured for assembly in the LIDAR system 400 for deflecting the central axis of the LIDAR system 400 to align with the angle 410B.

[0137] It should be noted that the schematic illustration in FIG. 4 are side views of the LIDAR system 400 showing a vFOV, i.e., a vertical extent of the FOV 420A and 420B spanning vertically (up and down) across the angular range of ±a from the central axis 410A and 410B respectively,for example, + / -15 degrees to form a 30 degrees vFOV, +10 / -20 degrees to form a 30 degrees vFOV, and / or the like. As explained herein before, the FOVs 420A and 420B also span a hFOV, i.e., a horizontal extent of the FOVs 420A and 420B across a horizontal angular range centered on the central axis 310. In such case, the horizontal extent of the FOVs 420A and 420B may span horizontally (left and right) by ±a from the central axis 410A, for example, + / -30 degrees to form a 60 degrees hFOV, + / -40 degrees to form an 80 degrees hFOV, + / -60 degrees to form a 120 degrees hFOV, and / or the like.

[0138] The embodiments disclosed here may therefore include deflecting the central axis of the FOV of the LIDAR system in the vertical axis (i.e., adjusting the vFOV), in the horizontal axis (i.e., adjusting the hFOV), and / or a combination thereof (i.e., adjusting both the vFOV and the hFOV). The optical adaptor elements 430 may be configured to vertically and / or horizontally deflect the central axis of the FOV 420 to the second angle in one or more ranges, for example, + / - 5 degrees, + / -10 degrees, + / -15 degrees, + / -20 degrees, +10 / -20 degrees, and / or the like.

[0139] The LIDAR system 400 may include an illumination unit 402 such as the illumination unit 102 comprising one or more light sources such as the light source 112 configured to emit one or more light beams, for example, eight light beams. The LIDAR system 100A may include a scanning unit 404 such as the scanning unit 104 configured to project the light emitted by the illumination unit 402 toward an FOV such as the FOV 120 for scanning the FOV and / or part thereof. The LIDAR system 400 may further include a window 424 such as the window 124 for transmitting outgoing light projected towards the FOV 420 and / or for receiving incoming light reflected from one or more objects in FOV 420 which are illuminated by the light projected from the LIDAR system 400.

[0140] In its original and / or default configuration, the FOV 420 of the LIDAR system 400 may be oriented at a central axis 410 as the illustrated, for example, by the FOV 120A in illustrations 300, 302, and 304 in FIG. 3. For brevity, assuming the LIDAR system 400 is oriented according to a Cartesian coordinate system, expressed in two dimensions, (x, y), the central axis 410 of the FOV 420 may be aligned with the horizontal axis (x) of the LIDAR system 400.

[0141] However, according to one or more parameters of the exemplary first mounting configuration, the central axis of the LIDAR system 400 of the kit 450A has to be deflected by an angle to adjusted central axis 410A such that the FOV 420A is oriented to angleIn contrast, according to one or more parameters of the exemplary second mounting configuration, the central axis of the LIDAR system 400 of the kit 450B has to be deflected by an angle —2such that the FOV 420B is oriented to angle —<P2-

[0142] As seen, the optical adaptor elements 430 A and 430B may be configured for fixed (static and / or permanent) assembly and / or mounting in the LIDAR system downstream from the scanningunit 404 of the LIDAR system, specifically along an optical path of the LIDAR system 400 between the scanning unit 404 and the FOV 420 of the LIDAR system 400.

[0143] The optical adaptor element 430A assembled and / or mounted in the LIDAR 400 included in the kit 450A may be therefore configured to deflect the central axis of the FOV 420A from a first angle, for example, a flat angle (0 degrees) with respect to horizontal axis, x, of the LIDAR system 400 to angle +Xwith respect to the x axis. The optical adaptor element 430B assembled and / or mounted in the LIDAR 400 included in the kit 450B, on the other hand, may be configured to deflect the central axis of the FOV 420B from a first angle, for example, a flat angle (0 degrees) with respect to horizontal axis, x, of the LIDAR system 400 to a second angle +Xwith respect to the x axis.

[0144] The same generic LIDAR system 400 may be therefore mounted in a plurality of mounting configurations in one or more vehicles such as the vehicle 110 without making any change, alteration, and / or adaptation to the LIDAR system 400. Rather the adaptation of orientation of the FOV 420 of each LIDAR system 400 to support a required FOV, i.e., deflecting the central axis of the FOV from a first angle to a second angle may be done an appropriate optical adaptor element(s) 430 which may be fixedly assembled in the respective LIDAR system 400 such that it adjusts the orientation of the FOV 420 of the LIDAR system 400 from the first angle to the second angle.

[0145] Each mounting configuration, specifically one or more of the mounting parameters of each mounting configuration may define a respective second angle of the central axis of the FOV 420 of the LIDAR system 400 in the respective mounting configuration.

[0146] A plurality of kits 450 may be therefore provided to support the plurality of mounting configurations where the optical adaptor element(s) 430 included in each kit 450 may be selected from a plurality of optical adaptor elements according to the respective second angle defined by the respective mounting configuration targeted by the respective kit 450.

[0147] As described herein before, the second angle defined by each of the mounting configurations may comprise a vertical angle and / or a horizontal angle. In other words, each of the plurality of mounting configurations may define deflecting the central axis of the FOV 420 to the second angle in the horizontal axis, in the vertical axis, and / or in both the horizontal and vertical axes.

[0148] The second angle may be shifted from the first angle by an angle in a one or more angle ranges. For example, the second angle may be vertically shifted from the first angle by an angle in a range of +15 to -15 degrees, +10 to -20 degrees, and / or the like. In another example, the second angle may be horizontally shifted from the first angle by an angle in a range of +15 to -15 degrees, +20 to -20 degrees, +15 to -25 degrees, and / or the like.

[0149] The optical adaptor elements 430 may designed, constructed, shaped and / or adapted to adjust the orientation of the FOV 420 of the LIDAR system 400, i.e., deflect the central axis of the FOV 420 using one or more technologies, implementations, and / or techniques.

[0150] For example, one or more optical adaptor elements 430 may be geometrically shaped for deflecting the central axis 410 of the FOV 420 of the LIDAR system 400 from the first angle, for example, angle 0 degrees to the second angle . For example, one or more optical adaptor elements may comprise a wedge prism which, as known in the art, may be adapted to deflect light beams in a selected angle. The geometry of an exemplary wedge prism 430A may include a LIDAR facing surface 430A1 which may be shaped and / or configured to be larger than the cross-section of the light beam(s) 204B impinging on the LIDAR facing surface 430A1 of the wedge prism 430A. The angle of the wedge prism may be selected and / or defined according to the required adjustment of the FOV 420 of the LIDAR system 400. For example, the wedge angle may be in a range between 2 degrees and 10 degrees. In another example, the wedge angle may be in a range between 4 degrees and 8.5 degrees.

[0151] In another example, one or more optical adaptor elements 430 may be constructed from one or more materials having a refractive index selected for deflecting the central axis 410 from the first angle to the second angle.

[0152] Optionally, the optical adaptor elements 430 may be formed of one or more materials transparent to the wavelength of the light emitted by the illumination unit 402. For example, one or more optical adaptor elements 430 may be configured to transmit light at a wavelength in a range between about 800 nm and about 1000 nm, at a range between about 850 nm and about 950 nm, at a range between about 1300 nm and about 1600 nm, and / or the like.

[0153] Optionally, the optical adaptor element 430 adaptor may be coated with an antireflective (AR) coating to minimize reflections and optical losses from the optical adaptor element 430 back into the LIDAR system 400. The AR coating may be optimized for an angle of incidence corresponding to the angle at which the optical adaptor element 430 is oriented in the LIDAR system 400 with respect to the optical path of the LIDAR system 400. This angle may vary depending on the required rotation of the FOV by the optical adaptor element 430. For example, the refraction index of a material of the optical adaptor element 430 is in a range between 1.5 and 1.85, for example, 1.8.

[0154] Optionally, one or more optical adaptor elements 430 may be further configured to adjust one or more additional optical parameters of the FOV 420 of the LIDAR system 400, for example, an angular extent, a resolution, and / or the like.

[0155] For example, an exemplary optical adaptor element 430 may be shaped, configured, and / or adapted to disperse the projected light 204 over an FOV having a wider angular extent than theoriginal FOV 420 of the LIDAR system 400. For example, assuming the FOV 420 of an exemplary LIDAR system 400 has a horizontal angular extent of 120 degrees (e.g., + / -60 degrees). Further assuming that the FOV needs to be vertically shifted by +10 degrees and also support a horizontal angular extent of 150 degrees (e.g., + / -75 degrees) typically at the expense of reduced resolution. In such case, an exemplary optical adaptor element 430 may be configured, for example, shaped to have a wedge prism element configured to deflect the vertical central axis of the FOV of the LIDAR system 400 by +10 degrees and a diverging lens element configured to disperse the light projected by the scanning unit 404 to cover a horizontal angular extent of 150 degrees.

[0156] In another example, an exemplary optical adaptor element 430 may be shaped, configured, and / or adapted to increase resolution of the FOV compared to the resolution of the original FOV 420 of the LIDAR system 400. For example, assuming the FOV 420 of an exemplary LIDAR system 400 has a horizontal angular resolution of 0.1 degrees over a certain angular extent, for example, 120 degrees (e.g., + / -60 degrees). Further assuming that the FOV needs to be vertically shifted by -5 degrees and also support a horizontal angular resolution of 0.05 degrees typically at the expense of reduced angular extent of the FOV 420. In such case, an exemplary optical adaptor element 430 may be configured, for example, shaped to have a wedge prism element configured to deflect the vertical central axis of the FOV of the LIDAR system 400 by -5 degrees and a focusing lens configured to focus the light projected by the scanning unit 404 to increase the horizontal resolution to 0.05 degrees.

[0157] According to some embodiments, the optical adaptor element 430 may be composed of one or more electroactive optical elements having an adjustable refraction index, i.e., the index of refraction may be adjusted by applying an electric voltage across the optical adaptor element 430. The electric voltage may be controlled by one or more processors, such as the processor(s) 118 and / or the host processor(s) 218 according to a configuration setting defined for the optical adaptor element 430. For example, the processor(s) may control the refractive index of the optical adaptor element 430 by applying a constant voltage depending on the desired index 3 which may be derived from the angle of FOV adjustment (rotation). In another example, the processor(s) may control the index of refraction dynamically by applying a variable voltage across the optical adaptor element 430 to adjust the FOV 420 of the LIDAR system 400 system according to dynamic changes to the required FOV 420. For example, when driving up a hill the FOV may be rotated upwards, or, when approaching a right turn, the FOV may be rotated towards the right side of the vehicle 110.

[0158] The optical adaptor elements 430 may be assembled and / or mounted in the LIDAR systems 400 using one designs, techniques, and / or implementation, for example, using mechanical provisions, attaching the optical adaptor element(s) 430 to a window associated with the LIDARsystem 400, replacing a window of the LIDAR system 400 with a monolithic window integrating the optical adaptor element(s) 430, and / or the like.

[0159] Reference is now made to FIG. 5A and FIG. 5B, which are schematic illustrations of exemplary optical adapter elements assembled in a LIDAR system for adjusting orientation of a FOV of the LIDAR system, in accordance with embodiments of the present disclosure.

[0160] An exemplary kit 450C such as the kit 450 may include a LIDAR system 400C such as the LIDAR 400 comprising illumination unit 402C such as the illumination unit 102 adapted to emit one or more light beams, and a scanning unit 404C such as the scanning unit 104 adapted to deflect the light emitted from the illumination unit 402C for scanning a FOV 420 of the LIDAR system 400C. The LIDAR system 400C may further include a window 424C such as the window 124.

[0161] The kit 450C may further include an optical adapter element 430C such as the optical adapter element 430, for example, a wedge prism configured for assembly in the LIDAR system 400C downstream from the scanning unit 404C along the optical path of the LIDAR system 400C in order to adjust the orientation of an FOV of the LIDAR system 400C.

[0162] In particular, the optical adaptor element 430C may be assembled in the LIDAR system 400C using one or more mechanical provisions 502 of the LIDAR system 400C, for example, a slot, a frame, a protrusion, a groove, a cavity, and / or the like shaped to receive and accommodate the optical adaptor element 430C. The mechanical provisions 502 may include one or more locking elements configured for receiving, accommodating, locking, and / or securing the optical adaptor element 430C in its designated location, for example, a clip, a fastener, a screw, a nut, and / or the like. In another example, the optical adaptor element 430C may be placed and secured in the LIDAR system 400A using one or more adhesive materials.

[0163] Exemplary kits 450D and 450E such as the kit 450 may each include a LIDAR system 400D and 400E respectively such as the LIDAR 400 each comprising illumination unit 402D and 402E respectively such as the illumination unit 102 adapted to emit one or more light beams, and a scanning unit 404D and 404D respectively such as the scanning unit 104 adapted to deflect the light emitted from the illumination unit 402D and 402E respectively for scanning a FOV 420 of the LIDAR system 400D and 400E respectively. The LIDAR system 400D and / or the LIDAR 400E may each further include a window 424D and 424E respectively such as the window 124.

[0164] The kits 450D and 450E may each further include an optical adapter element 430D and 430E respectively such as the optical adapter element 430, for example, a wedge prism configured for assembly in the LIDAR system 400D and 400E respectively downstream from the scanning unit 404D and 404E respectively along the optical path of the LIDAR system 400D and 400E, respectively. According to some embodiments, the optical adaptor element 430, for example, the optical adapter element 430D may be attached to an inner surface of a window of the LIDARsystem 400D, for example, the window 424D through which the light scanned by the scanning unit 404D is transmitted to the FOV 420 of the LIDAR system 400D and / or received from the FOV 420 back at the LIDAR system 400D. In another example, the optical adaptor element 430, for example, the optical adapter element 430E may be attached to an outer surface of a window of the LIDAR system 400D, for example, the window 424E through which the light scanned by the scanning unit 404E is transmitted to the FOV 420 of the LIDAR system 400E and / or received from the FOV 420 back at the LIDAR system 400E.

[0165] Optionally, one or more optical adapter elements 430, for example, the optical adaptor element 430D, the optical adaptor element 430E, and / or the like are attached to a window 424 of one or more LIDAR systems 400, for example, the window 424D, the window 424E, and / or the like using one or more adhesive materials having an optically matched refractive index selected to reduce and optionally eliminate reflection, refraction, and / or deflection of the light transmitted and / or received via the window 424.

[0166] Exemplary kits 450F and 450F such as the kit 450 may each include a LIDAR system 400F and 400G respectively such as the LIDAR 400 each comprising illumination unit 402F and 402G respectively such as the illumination unit 102 adapted to emit one or more light beams, and a scanning unit 404F and 404G respectively such as the scanning unit 104 adapted to deflect the light emitted from the illumination unit 402F and 402G respectively for scanning a FOV 420 of the LIDAR system 400F and 400G respectively. The LIDAR system 400F and / or the LIDAR 400G may further include a window 424F and 424G respectively such as the window 124.

[0167] The kits 450F and 450G may each further include an optical adapter element such as the optical adapter element 430 configured for assembly in the LIDAR system 400F and 400G respectively downstream from the scanning unit 404F and 404G respectively along the optical path of the LIDAR system 400F and 400G, respectively. In particular, the optical adapter element may be integrated with a window to form a monolithic window configured and / or shaped for replacing a corresponding (original) window of the LIDAR system 400F and 400G, respectively. For example, a window 424F and / or a window 424G may be configured to replace the window 424 in the LIDAR system 400F and / or 400G, respectively.

[0168] As seen, each of the window 424F and the windows 424G may comprise a first portion implementing the optical adapter element 430, for example, a wedge shaped portion and a second portion which may be flat. In some embodiments, the wedge shaped portion may face the scanning unit 404, as illustrated by the window 424F while the flat portion may face the external side of the LIDAR system 400, i.e., the environment. In other embodiments, the wedge shaped portion may face the environment, as illustrated by the window 424G while the flat portion may face the scanning unit 404. The external side facing portion of the integrated window, for example, thewindow 424F and / or 242G may be scratch, shatter and / or crack resistant for automotive grade use. Optionally, the integrated window may further comprise one or more optical filters to maximize transmission of wavelengths emitted by the illumination unit 102 and minimize reflections of the emitted light back towards the scanning unit 404. Optionally, the integrated window may be configured to filter out light in one or more wavelengths which do not originate from the illumination unit 102, for example, ambient visible light, light emitted from one or more other light sources, and / or the like.

[0169] Integrating the optical adaptor element 430 in the window 424 of the LIDAR system 400 may present major advantages, specifically in terms of reduced losses, reflection, and / or attenuation due the light transfer between multiple optical elements as is the case with optical adaptor elements 430 which are separate from the window 424.

[0170] The LIDAR system 400F and 400G may include mechanical provisions, for example, a socket, a frame, a screw, a clip, and / or the like shaped to receive and accommodate a plurality of replacement windows 424, for example, the window 424F, the window 424G, and / or the like each integrating a respective optical adapter element 430.

[0171] The adapted LIDAR system 400, designated LIDAR system 400’ for clarity, may be calibrated post assembly of the optical adaptor element(s) 430 to verify alignment of the FOV 420 having the deflected central axis. Calibration of the adapted LIDAR system 400’ may be done using one or more calibration units, verification systems and / or the like, collectively designated calibration equipment herein after.

[0172] Optionally, a plurality of adapted LIDAR systems 400’ assembled with different optical adaptor elements 430 to have differently oriented FOVs 420 may be calibrated using a common calibration equipment, typically calibration equipment configured and used for calibrating the generic LIDAR system 400 and / or for verifying its operation and / or performance.

[0173] To this end a respective reversing optical setup may be used for calibrating each variant of adapted LIDAR systems 400’ where the reversing optical setup comprises one or more optical elements configured to reverse the optical adjustment induced by assembly of the respective optical adaptor element(s) 430 in the respective adapted LIDAR systems 400’.

[0174] The reversing optical setup may be deployed on the optical path between the adapted LIDAR system 400’ and the common calibration equipment such that the optical characteristics of the generic LIDAR system 400 including orientation of its FOV 420 are restored for the adapted LIDAR system 400’. In particular, the reversing optical setup may adjust the orientation of FOV 420’ of the adapted LIDAR system 400’ to align with the original FOV 420 of the LIDAR system 400 by deflecting a central axis 410’ of FOV 420’ of the adapted LIDAR system 400’ from the second angle to the first angle.

[0175] Using a common calibration equipment set may eliminate the need to design, produce, and / or maintain a plurality of calibration equipment sets for the plurality of adapted LIDAR systems 400’ adapted with a plurality of different optical adaptor elements 430 which may significantly reduce costs, effort, resources, and / or time which may be otherwise required to support the multiple specifically adapted calibration equipment sets.

[0176] Adapting the LIDAR system 400 by assembling the optical adapter element(s) 430 along the optical path between the scanning unit 404 and the FOV 420 of the LIDAR system 400 for adjusting the FOV 420 of the LIDAR system 400 may distort and / or affect the signal data (trace data) generated by one or more sensors such as the sensor 116 of the LIDAR system 400 which is indicative of light received from the FOV 420 including light reflected in response to the light emitted by one or more light sources such as the light source 112 of the illumination unit 402 of the LIDAR system 400.

[0177] For example, as known in the art, images such as the projected image of LIDAR systems such as the LIDAR system 100 may be distorted due to the keystone effect resulting from the changing angle of light projected toward different sections of the FOV 120 thus resulting in distorted edges of the projected FOV compared to the center of the FOV.

[0178] Adding an optical adaptor element such as the optical adapter element 430 deployed along the optical path of the LIDAR system 400 may impact the projected image of the FOV 120, for example, further distort the FOV 120 according to the second angle to which the central axis of the FOV 120 is adjusted by the optical adapter element 430.

[0179] As such, one or more point clouds generated based on the distorted signal data received from the sensor(s) 116 may be also distorted and / or affected accordingly due to one or more distortions in the point cloud induced by the distorted signal data as result of the impact of the optical adaptor element(s) 430.

[0180] One or more processors, for example, the processor(s) 118 included in the LIDAR system 400 and / or the host processor(s) 218, collectively designated processor(s) herein after, which are configured to generate the point cloud(s) based on the signal data may be therefore further configured to correct one or more distortions in the point cloud induced by the distorted signal data.

[0181] Reference is now made to FIG. 6A and FIG. 6B, which are images created based on trace data generated by sensors indicative of emissions received in response to light projected by a LIDAR system assembled with an optical adaptor element to adjust a FOV of the LIDAR system, in accordance with embodiments of the present disclosure.

[0182] Images 600, 602, 610, and 612 map emissions received by one or more sensors such as the sensor 116 associated with a LIDAR system such as the LIDAR system 400 assembled with anoptical adaptor element such as the optical element 430 for adjusting an orientation of a FOV such as the FOV 420 of the LIDAR system 400. The images 600, 602, 610, and 612 may be created based on signal data (trace data) generated by the sensor(s) 116 associated with the LIDAR system 400 which is indicative of light emissions received by the sensor(s) 116 from the adjusted orientation FOV 420 including light reflected from one or more objects such as the object 208 located in the FOV 420 in response to being illuminated by the light emitted from one or more light sources such as the light source 112 of the LIDAR system 400 and projected to the FOV 120 and / or part thereof. The images 600, 602, 610, and 612 map the emissions across the entire orientation adjusted FOV 420 which is expressed by a vertical angle phi and horizontal angle theta.

[0183] Images 600 and 602 depict a spherical FOV and a projected FOV respectively created based on trace data generated by the sensor(s) 116 associated with a LIDAR system 400 assembled with an optical adaptor element 430A for adjusting the orientation of the FOV 420 of the LIDAR system 400 to the FOV 420A, specifically for deflecting the central axis of the FOV 420 upwards by the second angle

[0184] Images 600 and 602 may therefore map the emissions in the FOV 420A. As seen, the emissions mapped in the images 600 and 602 are distorted due to the presence of the optical adapter element 430A on the optical path between the scanning unit 404 and the upward adjusted FOV 420A. Specifically, the distortions include upward stretching of the emissions pattern with the stretching gradually increasing towards the bottom and side edges of the FOV 420 A.

[0185] Images 610 and 612 depict a spherical FOV and a projected FOV respectively created based on trace data generated by the sensor(s) 116 associated with a LIDAR system 400 assembled with an optical adaptor element such as the optical adapter element 430B for adjusting the orientation of the FOV 420 of the LIDAR system 400 to the FOV 420B, specifically for deflecting the central axis of the FOV 420 downward by the second angle -2-

[0186] The images 600 and 602 may therefore map the emissions in the FOV 420A. As seen, the emissions mapped in the images 610 and 612 are distorted due to the presence of the optical adapter element 430B on the optical path between the scanning unit 404 and the downward adjusted FOV 420B. Specifically, the distortions include downward stretching of the emissions pattern with the stretching gradually increasing towards the bottom and side edges of the FOV 420B.

[0187] The processor(s) may employ one or more methos, techniques, and / or algorithms for correcting the distortions induced by the presence of the optical adaptor elements 430A and / or 430B assembled along the optical path between the scanning unit 404 and the FOV 420 of the LIDAR system 400. For example, the processor(s) may use one or more stored correction lists and / or tables associated with each optical adaptor element 430 which list empiric distortion and / or correction values measured for the respective optical adaptor elements 430 during one or moretesting sessions. Using the empiric distortion and / or correction values, the processor(s) may compute and / or restore the emissions values and / or patterns to produce respective undistorted images. In another example, the processor(s) may use one or more stored emission image reference templates created for each optical adaptor element 430 and compare the captured distorted emission image with the emission reference template(s) to recover respective undistorted images. In another example, the processor(s) may apply one or more machine learning models, for example, a neural network, a support vector machine, a statistical classifier, and / or the like which are trained to extract undistorted emissions images from respective distorted emissions images captured by sensors 116 of LIDAR systems 400 assembled with a plurality of optical adaptor elements 430.

[0188] The processor(s) may then use the recovered undistorted emission images to generate one or more point cloud models in which the distortions induced by the optical adaptor elements 430 are thus reduced and potentially eliminated.

[0189] Reference is now made to FIG. 7, which is a flow chart of an exemplary process for adapting a LIDAR system for adjusting its FOV according to a mounting configuration of the LIDAR system, in accordance with embodiments of the present disclosure.

[0190] An exemplary process 700 may be executed for adapting a LIDAR system such as the LIDAR system 400 to orient its FOV according to one or more mounting parameters of a mounting configuration defined for the LIDAR system 400. The process 700 may be typically executed after the LIDAR 400 in its generic configuration is produced and optionally tested and calibrated. For example, the process 700 may be executed at a manufacturing site of the LIDAR system 400 at the end of a production line of the LIDAR system 400 as a supplementary process for adapting the generic LIDAR system 400 to adjust orientation of the its FOV 120 to a required second angle using a respective optical adaptor elements such as the optical adaptor element 430. In such case, a respective kit such as the kit 450 may be provided at the manufacturing site for this supplementary process 700. In another example, the process 700 may be executed at an OEM site prior and / or during integration of the LIDAR system 400. In such case, a respective kit such as the kit 450 may be provided to the OEM who may use the kit to execute the process 700 for adapting the LIDAR system 400.

[0191] As shown at 702, the process 700 starts receiving a kit such as the kit 450 comprising the LIDAR system 400 and one or more optical adaptor elements 430 configured for adjusting the orientation of a FOV such as the FOV 420 of the LIDAR system 400 according to one or more mounting parameters of the defined mounting configuration according to which the LIDAR system 400 is to be mounted and operated, for example, in a vehicle such as the vehicle 110.

[0192] As shown at 704, the optical adaptor element(s) 430 may be fixedly assembled and / or mounted in the LIDAR system 400 such that the optical adaptor element(s) 430 may deflect the central axis of the FOV 420 of the adapted LIDAR system 400’ from a first angle, typically its original default angle, to a second angle defined by one or more mounting parameters of the defined mounting configuration of the LIDAR system 400’.

[0193] As described herein before, the assembly of the optical adaptor element(s) 430 comprises mounting the optical adaptor element(s) 430 along the optical path between a scanning unit of the LIDAR system 400 such as the scanning unit 404 and the FOV 420 the LIDAR system 400.

[0194] Mounting and / or assembling the optical adaptor element(s) 430 may be done, for example, using one or more mechanical provisions of the LIDAR system 400 such as the mechanical provisions 502. In another example, mounting and / or assembling the optical adaptor element(s) 430 may comprise attaching the optical adaptor element(s) 430 to an inner and / or outer surface of a window of the LIDAR system 400, for example, a window such as the window 424. Optionally, the optical adaptor element(s) 430 may be attached to the window 424 using one or more adhesive materials which are optically matched, i.e., having a refractive index selected to reduce and potentially eliminate reflections, refractions, and / or deflections of the light travelling between the optical adaptor element(s) 430 and the window 424.

[0195] In another example, mounting and / or assembling the optical adaptor element(s) 430 may comprise replacing a window of the LIDAR system 400, for example, the window 424 with a window integrating the optical adaptor element(s) 430 as shown in FIG. 5B, for example.

[0196] As shown at 706, the adapted LIDAR system 400’ assembled with the optical adaptor element(s) 430 may be calibrated.

[0197] Optionally, the adapted LIDAR system 400’ may be calibrated using a common calibration equipment which may be used for calibrating the generic LIDAR system 400. To this end the calibration setup of the adapted LIDAR system 400’ may include a reversing optical setup comprising one or more optical elements configured to reverse the optical adjustment induced by assembly of the optical adaptor element(s) 430 in the adapted LIDAR systems 400’.

[0198] As shown at 708, the adapted LIDAR system 400’ assembled with the optical adaptor element(s) 430 may be provided for mounting according to its defined mounting configuration, for example, in the vehicle 110, at a monitoring post serving a security system and / or a surveillance system, and / or the like.

[0199] Using generic LIDAR systems such as the LIDAR system 400 which may be efficiently adapted to adjust the orientation of their FOV 420 may serve a plurality of use cases where the same LIDAR system 400 may installed in a plurality of different mounting configurations havingone or more different mounting parameters, for example, position, location, height (elevation above ground), orientation, and / or the like.

[0200] Reference is now made to FIG. 8A and FIG. 8B, which are schematic illustrations of LIDAR systems adapted to adjust their FOV according to their mounting configurations, in accordance with embodiments of the present disclosure.

[0201] With respect to FIG. 8A, assuming an exemplary generic LIDAR system 800 such as the LIDAR system 400 is required to be mounted, for example, in a vehicle such as the vehicle 110 such that its FOV 820 such as the FOV 420 is oriented for scanning a road area in front of the vehicle 110. As seen in FIG. 8 A, the generic LIDAR system 800 may have an FOV 820 oriented directly forward on the horizontal axis of the LIDAR system such that a central axis 810 of the FOV 820 is parallel to the x axis.

[0202] The LIDAR system 800 may be mounted in one or more vehicles 110 in a first mounting configuration having one or more first mounting parameters, for example, a first height Hl, or in a second mounting configuration having one or more second mounting parameters different from the first mounting parameters, for example, a second height Hl higher than the first height Hl by AH. The first mounting configuration may correspond, for example, to a grill and / or head light housing mounting of the LIDAR 800 in a vehicle such as the vehicle 110 while the second mounting configuration may correspond, for example, to a roof and / or a behind the windshield mounting on a vehicle 110. In order to cover a front road level FOV, typical vFOV of a roof mounted LIDAR system 100 may be in the range +10 degrees to -20 degrees while a typical vFOV of a grill mounted LIDAR system 100 may be in the range + / -15 degrees.

[0203] In such case, the LIDAR system 800 mounted in the first mounting configuration (height Hl) may not require orientation adjustment of its FOV 820 since the LIDAR system 800 mounted at height Hl and its FOV 820 is already oriented to face forward for scanning the road area in front of the vehicle 110.

[0204] However, the FOV 820 of the LIDAR system 800 mounted in the second mounting configuration at height H2 may not cover the road area in front of the vehicle 110. In such case, the LIDAR system 800 to be mounted according to the second mounting configuration may be adapted using a kit such as the kit 450 such that the adapted LIDAR system 800A may have an FOV 820’ having a central axis 810’ deflected by a second angle — <i)1from the original central axis 810. The FOV orientation adjustment may be done by assembling one or more optical adaptor elements such as the optical adaptor element 430 included in the kit 450 which are configured to orient the FOV of the LIDAR system 800A to the FOV 820’, i.e., deflect the central axis 810 from a first angle (0 degrees) to the second angle — <i)1thus adjusting orientation of the FOV 820’ to face downward and forward for scanning the road area in front of the vehicle 110.

[0205] With respect to FIG. 8B, assuming the exemplary generic LIDAR system 800 is required to be mounted, for example, in a vehicle such as the vehicle 110 such that the FOV 820 of the LIDAR system 800 is oriented for scanning a road area in front of the vehicle 110.

[0206] The LIDAR system 800 may be mounted in one or more mounting configurations. For example, assuming the LIDAR system 800 is a vehicle roof mounted system, the LIDAR system 800 may be mounted in a first mounting configuration having one or more first mounting parameters, for example, a flat mounting angle in a first vehicle 110A such as the vehicle 110, and in a second mounting configuration having one or more second mounting parameters different from the first mounting parameters, for example, a sloped mounting angle in a first vehicle HOB such as the vehicle 110.

[0207] In such cases, the LIDAR system 800 mounted in the first mounting configuration (height Hl) may not require orientation adjustment of its FOV 820 since the LIDAR system 800 mounted on the flat roof surface of the first vehicle 110A is already oriented to face forward for scanning the road area in front of the vehicle 110A.

[0208] However, the FOV 820 of the LIDAR system 800 mounted in the second mounting configuration on the sloped roof surface of the second vehicle HOB may not cover the road area in front of the vehicle 110. Rather, due to the slope angle of the roof of the second vehicle 110B, the FOV 820 of the LIDAR system 800 may face downward into the ground in front of the vehicle 110B thus having a significantly reduced range at best. In such case, the LIDAR system 800 to be mounted according to the second mounting configuration may be adapted using a kit such as the kit 450 such that the adapted LIDAR system 800B may have an FOV 820” having a central axis 810” deflected by a second angle +2from the original central axis 810. The FOV orientation adjustment may be done by assembling one or more optical adaptor elements 430 included in the kit 450 which are configured to orient the FOV of the LIDAR system 800B to the FOV 820B, i.e., deflect the central axis 810 from a first angle (0 degrees) to the second angle +2thus adjusting orientation of the FOV 820B to face downward and forward for scanning the road area in front of the vehicle 110B.

[0209] FIG. 9 is a schematic illustration of an exemplary vehicle installed with a plurality of LIDAR systems each adapted to adjust the orientation of its FOV according to its mounting configuration, in accordance with embodiments of the present disclosure.

[0210] FIG. 9 is a top view of a vehicle HOC such as the vehicle 100 mounted and / or installed with a plurality of LIDAR systems 900 such as the LIDAR system 400, for example, two LIDAR systems 900, specifically two similar (generic) LIDAR systems 900. For example, the two LIDAR system 900 may be mounted in a headlight mounting configuration where a first LIDAR system900A is mounted and / or installed in the right headlight of the vehicle 1 IOC and a second LIDAR system 900B is mounted and / or installed in the left headlight of the vehicle 1 IOC.

[0211] Further assuming a FOV 920 such as the FOV 420 of the LIDAR systems 900 is oriented to face forward for scanning a road area in front of the vehicle 110C. As such, a central axis 910 of the FOV 920 may point directly forward, i.e., angle 0 with respect the horizontal axis of the vehicle HOC. However, rather than scanning straight ahead, the FOV 920 of each of the two LIDAR systems 900 is required to be oriented slightly sideways (outward) for scanning front side sections of the vehicle 110C. This means that the FOV 920 of the LIDAR system 900 installed in the right headlight is required to be oriented with a certain right angle - for scanning a front right side of the vehicle 110C and the FOV 920 of the LIDAR system 900 installed in the left headlight is required to be oriented with a certain left angle + for scanning a front left side of the vehicle HOC.

[0212] In order to support the required FOV requirements, the first LIDAR system 900 A may be mounted and / or installed in the right headlight of the vehicle HOC in a first mounting configuration, while the second LIDAR system 900A may be mounted and / or installed in the left headlight of the vehicle HOC in a second mounting configuration having one or more second mounting parameters different from the mounting parameters of the first mounting configuration.

[0213] The first LIDAR system 900A mounted in the first mounting configuration in the right headlight may be adapted using a first kit such as the kit 450 such that the adapted LIDAR system 900A may have an FOV 920A having a central axis 910A deflected by a second angle — from the original central axis 910. The FOV orientation adjustment may be done by assembling one or more first optical adaptor elements 430 included in the first kit 450 which are fixedly assembled in the first LIDAR system 900A for orienting the FOV of the LIDAR system 900A to the FOV 920A. In particular, the first optical adaptor element(s) 430 fixedly assembled in the first LIDAR system 900A may be configured to deflect the central axis 910 of the FOV 920A from a first angle (0 degrees) to the second angle — thus adjusting orientation of the FOV 920A to face forward and slightly to the right for scanning the road area in front and in front right side of the vehicle HOC.

[0214] In contrast, the second LIDAR system 900B mounted in the second mounting configuration in the left headlight may be adapted using a second kit such as the kit 450 such that the adapted LIDAR system 900B may have an FOV 920B having a central axis 910B deflected by a third angle + from the original central axis 910. The FOV orientation adjustment may be done by assembling one or more second optical adaptor elements 430 included in the second kit 450 which are fixedly assembled in the second LIDAR system 900B for orienting the FOV of the LIDAR system 900B to the FOV 920B. In particular, the second optical adaptor element(s) 430fixedly assembled in the second LIDAR system 900B may be configured to deflect the central axis 910 of the FOV 920B from a first angle (0 degrees) to the third angle — thus adjusting orientation of the FOV 920B to face forward and slightly to the left for scanning the road area in front and front left side of the vehicle 110C.

[0215] The foregoing description has been presented for purposes of illustration. It is not exhaustive and is not limited to the precise forms or embodiments disclosed. Modifications and adaptations will be apparent to those skilled in the art from consideration of the specification and practice of the disclosed embodiments.

[0216] Moreover, aspects of the present disclosure may be embodied as a system, method, and / or computer program product. As such, aspects of the disclosed embodiments may be provided in the form of an entirely hardware embodiment, an entirely software embodiment, or a combination thereof.

[0217] Additionally, although aspects of the disclosed embodiments are described as being stored in memory, one skilled in the art will appreciate that these aspects can also be stored on other types of computer readable media, such as secondary storage devices, for example, hard disks or CD ROM, or other forms of RAM or ROM, USB media, DVD, Blu-ray, or other optical drive media.

[0218] Computer programs and computer programs products based on the written description and disclosed methods are within the skill of an experienced developer. The various programs or program modules can be created using any of the techniques known to one skilled in the art or can be designed in connection with existing software. For example, program sections or program modules can be designed in or by means of .Net Framework, .Net Compact Framework (and related languages, such as Visual Basic, C, etc.), Java, C++, Objective-C, HTML, HTML / AJAX combinations, or HTML with included Java applets.

[0219] Moreover, while illustrative embodiments have been described herein, the scope of any and all embodiments having equivalent elements, modifications, omissions, combinations (e.g., of aspects across various embodiments), adaptations and / or alterations as would be appreciated by those skilled in the art based on the present disclosure.

[0220] It is expected that during the life of a patent maturing from this application many relevant systems, methods and computer programs will be developed and the scope of the terms LIDAR systems, light projection technologies, light sensing technologies, and scanning mechanisms, are intended to include all such new technologies a priori.

[0221] The terms "comprise", "comprising", "include", "including", “having” and their conjugates mean "including but not limited to". These terms encompass the terms "consisting of' and "consisting essentially of' which mean that the composition or method may include additionalingredients and / or steps if the additional elements and / or steps do not materially alter the novel characteristics of the claimed composition or method.

[0222] As used herein the term “about” refers to ± 5 %.

[0223] Throughout this disclosure, various embodiments may be presented in a range format. Description in range format is merely for convenience and brevity and should not be construed as an inflexible limitation on the scope of the invention. Accordingly, the description of a range should be construed to include all the possible subranges as well as individual numerical values within that range.

[0224] It is appreciated that certain features of embodiments disclosed herein, which are, for clarity, described in the context of separate embodiments, may also be provided in combination in a single embodiment. Also, features described in combination in the context of a single embodiment may also be provided separately or in suitable sub-combinations in other embodiments described herein.

[0225] Publications, patents, and patent applications referred to in this disclosure are to be incorporated into the specification in their entirety by reference as if each individual publication, patent, or patent application was specifically and individually included in the disclosure. However, indication and / or identification of any such referenced document may not be construed as admission that the referenced document is available as prior art to embodiments disclosed hereon.

[0226] The limitations in the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application. The examples are to be construed as non-exclusive. Furthermore, the steps of the disclosed methods may be modified in any manner, including by reordering steps, and / or inserting or deleting steps. It is intended, therefore, that the specification and examples be considered as illustrative only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.

Claims

WHAT IS CLAIMED IS:

1. A LIDAR kit, comprising: a LIDAR system comprising a scanning unit configured for scanning light emitted by at least one light source of the LIDAR system about a central axis toward a field of view of the LIDAR system; and a transparent optical adaptor element for mounting downstream from the scanning unit along an optical path between the scanning unit and the field of view of the LIDAR system and configured to deflect the central axis of the field of view of the LIDAR system as the light passes through the optical adapter element from a first angle to a second angle different from the first angle.

2. The kit of claim 1, wherein the LIDAR system is configured for mounting in a plurality of mounting configurations using a plurality of respective kits, each of the plurality of mounting configurations defining a respective one of a plurality of second angles, wherein the at least one optical adaptor element included in each kit is selected from a plurality of optical adaptor elements according to the respective second angle defined by the respective mounting configuration.

3. The kit of claim 1 or 2 wherein the second angle comprises a vertical angle in a mounting configuration of the LIDAR system.

4. The kit of claim 3, wherein the second angle is vertically shifted from the first angle by an angle in a range of +20 degrees to -20 degrees.

5. The kit of any one of the preceding claims, wherein the second angle comprises a horizontal angle in a mounting configuration of the LIDAR system.

6. The kit of claim 5, wherein the second angle is horizontally shifted from the first angle by an angle in a range of +20 degrees to -20 degrees.

7. The kit of any one of the preceding claims, wherein the at least one optical adaptor element is geometrically shaped for deflecting the central axis from the first angle to the second angle.

8. The kit of claim 7, wherein the at least one optical adaptor element comprises a wedge prism.

9. The kit of any one of the preceding claims, wherein the at least one optical adaptor element is constructed from at least one material having a refractive index selected for refracting the central axis from the first angle to the second angle.

10. The kit of any one of the preceding claims, wherein the at least one optical adaptor element is assembled in the LIDAR system using at least one mechanical provision of the LIDAR system.

11. The kit of any one of the preceding claims, wherein the at least one optical adaptor element is attached to a window of the LIDAR system through which the light scanned by the scanning unit is transmitted to the field of view of the LIDAR system.

12. The kit of claim 11, wherein the at least one optical adaptor element is attached to a surface of the window of the LIDAR using at least one adhesive material having an optically matched refractive index.

13. The kit of claim 11, wherein the at least one optical adaptor element is integrated with the window of the LIDAR system through which the light scanned by the scanning unit is transmitted to the field of view of the LIDAR system.

14. The kit of any one of the preceding claims, wherein the at least one optical adaptor element is further configured to adjust at least one additional optical parameter of the field of view of the LIDAR system, selected from a group of parameters consisting of an angular extent and a resolution.

15. The kit of any one of the preceding claims, wherein the LIDAR system is calibrated post-assembly of the at least one optical adaptor element using a reversing optical elementconfigured to deflect the central angle of the field of view of the adapted LIDAR system from the second angle to the first angle.

16. The kit of any one of the preceding claims, and comprising at least one processor configured to generate a point cloud mapping at least one object in the field of view of the LIDAR system using signal data received from at least one sensor of the LIDAR system, and to correct at least one distortion in the point cloud induced by the at least one optical adaptor element.

17. A method of adjusting a central axis of a field of view of a LIDAR system, comprising: receiving an installation kit comprising the LIDAR system, which comprises a scanning unit configured for scanning light emitted by at least one light source of the LIDAR system about the central axis toward the field of view of the LIDAR system, and one or more transparent optical adaptor elements; selecting a transparent optical adaptor element from among the one or more transparent optical adaptor elements depending on an intended mounting configuration of the LIDAR system; and mounting the selected optical adaptor element in the LIDAR system downstream from the scanning unit along an optical path between the scanning unit and the field of view of the LIDAR system so as to deflect the central axis from a first angle to a second angle different from the first angle.

18. The method of claim 17, wherein mounting the selected optical adaptor element comprises replacing a window of the LIDAR system with a window integrating the selected optical adaptor element.

19. A vehicle installed with a LIDAR system assembled using a kit for adjusting a central axis of a field of view of the LIDAR system, which comprises a scanning unit configured for scanning light emitted by at least one light source of the respective LIDAR system about the central axis toward the field of view, wherein the kit comprises the LIDAR system and a transparent optical adaptor element for mounting downstream from the scanning unit along an optical path between the scanning unit and the field of view of the LIDAR system and configured to deflect the central axis of the field of view of the LIDAR system as the light passes through the optical adapter element froma first angle to a second angle different from the first angle, wherein the second angle is defined by at least one parameter of a mounting configuration of the LIDAR system on the vehicle.

20. The vehicle of claim 19, wherein the vehicle is installed with at least two first and second LIDAR systems, assembled using respective kits for adjusting respective central axes of the field of view of the respective LIDAR system, wherein the first and second LIDAR systems are mounted in different, respective first and second mounting configurations for scanning respective first and second fields of view, and wherein the respective kits comprise different, respective first and second transparent optical adapter elements, for deflecting the respective central axes of first and second LIDAR systems by different, respective deflection angles.

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