CPC B60R 21/0134 (2013.01) [B60G 17/019 (2013.01); B60R 1/00 (2013.01); B60R 21/013 (2013.01); B60R 21/36 (2013.01); G01S 7/486 (2013.01); G01S 17/04 (2020.01); G01S 17/86 (2020.01); G01S 17/931 (2020.01); G08G 1/166 (2013.01); B60R 2021/01013 (2013.01); G01S 17/89 (2013.01); G01S 17/894 (2020.01)] | 20 Claims |
1. A vehicular three-dimensional imaging system comprising:
a ladar sensor configured to be mounted to a vehicle, comprising;
a laser transmitter configured to provide a modulated laser light output,
a diffusing optic for illuminating a scene in a field of view with the modulated laser light output,
a receiving lens assembly,
a two-dimensional array of light sensitive detectors positioned at a focal plane of said receiving lens assembly, each of said light sensitive detectors with an output producing an electrical response signal from a reflected portion of said modulated laser light output,
a readout integrated circuit with a plurality of unit cell electrical circuits, each of said unit cell electrical circuits having an input connected to one of said light sensitive detector outputs, an electrical response signal demodulator, and a range measuring circuit connected to an output of said electrical response signal demodulator, said range measuring circuit further connected to a reference signal providing a zero range reference for the said range measuring circuit,
a detector bias circuit connected to at least one voltage distribution grid of said array of light sensitive detectors,
a temperature stabilized frequency reference connected to said readout integrated circuit, and
a ladar sensor output;
a visible light video camera configured to be mounted to the vehicle and having at least one video output;
an inertial reference subsystem configured to be mounted to the vehicle and having a subsystem output;
a first digital processor in communication with said inertial reference subsystem and adapted to process signals therefrom; and
a ladar system controller connected to said ladar sensor output, to said video output, and to said first digital processor and adapted to receive and process data from said first digital processor and said inertial reference subsystem,
said ladar system controller including a digital scene processor adapted to develop a three-dimensional image utilizing data from said ladar sensor output, said video output, and said inertial reference subsystem and to provide a three-dimensional image output.
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