Patent ID: 7583365
Filing Date: 2009-09-01
Classification: G01C,G01S

Abstract:
1. A method of scanning a scene, said method comprising: a. sending a light beam to the scene according to a beam orientation, and gaining distance information from the return of said light beam, b. selectively repeating step a. with a plurality of other beam orientations in one scanning of the scene, wherein step b. comprises: b1. after one or more repetitions of step a. in the one scanning, defining the next beam orientation using distance information gained at one or more preceding beam orientations of the one scanning, c. forming a first angular sector from the beam orientations of steps a. and b., d. selectively repeating steps a. and b. at further beam orientations, said further beam orientations forming a further angular sector derived from a selected portion of said first angular sector, with a lateral shift related to the angular deviations between the beam orientations in said portion of said first angular sector, wherein step d. comprises: d1. determining angular domains within said first angular sector, each angular domain comprising beam orientations having distance information within a respective distance range, d2. selecting said portion of said first angular sector from one or more angular domains having higher distance ranges, d3. defining said further angular sector from said portion, with a lateral shift derived from said higher distance ranges.