3D flash lidar has no moving part and can provide high-resolution depth information, so they are attracting attention in development of solid-state lidar system. However, the limited detecting range is key challenge because a single diffused laser source has to cover the whole target area while satisfying the laser-safety requirements. In this paper, we propose a semi-flash lidar system to increase the detecting range while providing high-resolution and wide field-of-view. To increase the peak power of the individual lasers under laser-safety constraint, we design a customized VCSEL array that forming a sparse 2D laser array. We also propose a depth upsampling method to recover the empty pixels in a SPAD detector array which are caused by sparsely distributed laser beam. For robust depth reconstruction, a joint trilateral filter that exploits the ambient light information and structural information of the VCSEL array are presented. Using a hardware prototype, we show the degree of the range enhancement and fidelity of the depth upsampling results under a various environment.
We have developed a solid-state LiDAR sensor with combination of pixelized laser beam sources and BCSCs (beam collimation and steering components). We utilized 2-Dimensional matrix addressable VCSEL arrays as Laser sources. Additionally two alternatives, combination of a microlens and a microprism plate and metalens plates, are tested as a candidate of the BCSC. This technology enables us to realize true solid-state LiDARs without mechanically moving part for scanning laser beams. We verified that our LiDAR can detect the objects which are in range of 100 meters and FOV (field of view) can be spanned up to 360o by combing of multiple sensor modules. The key components were fabricated semiconductor processing and paves the way for disruptive robust and mass-producible LiDAR sensors.
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