Estimation of motion using lidar

Abstract

Techniques of tracking an object's motion involve using a LIDAR system that is configured to track an object over a period of time in which the object is moving using a single scanning motion. Using the LIDAR system, tracking of the object can be performed while eliminating visible imaging hardware (e.g., video camera hardware). Accordingly, the LIDAR system can be configured to operate in total darkness, into the sun, etc. The LIDAR system can be less susceptible to motion of the object than conventional systems. Accordingly, the motion of the object 110 be determined in some implementations solely from LIDAR measurements, without, for example, video.

What may be claimed is: 
     
       A method, comprising:
 defining a first dataset based on a performance of a first scan at a first time of an object using a plurality of beams of electromagnetic radiation emitted from a scanning mechanism; 
 defining a second dataset based on a performance of a second scan at a second time of the object using the plurality of beams of electromagnetic radiation emitted from the scanning mechanism, each of the first scan and the second scan being performed in a direction substantially normal to a direction of the plurality of beams; 
 generating, based on the first dataset and the second dataset, (i) an initial value of a first velocity of the object along a first axis orthogonal to the direction of the plurality of beams, (ii) an initial value of a second velocity of the object along a second axis orthogonal to the direction of the plurality of beams, and (iii) an initial value of a rotational velocity of the object about an axis parallel to the direction of the plurality of beams.