Patent Publication Number: US-2021190959-A1

Title: LiDAR DETECTION METHODS AND SYSTEMS WITH FBG FILTER

Description:
CROSS-REFERENCE 
     The present application claims priority to Russian Patent Application No. 2019143309, entitled “LiDAR Detection Methods and Systems with FBG Filter”, filed on Dec. 23, 2019, the entirety of which is incorporated herein by reference. 
     FIELD OF TECHNOLOGY 
     The present technology relates to Light Detection and Ranging (LiDAR) systems and methods for detecting objects in a region of interest. 
     BACKGROUND 
     Several computer-based navigation systems that are configured for aiding navigation and/or control of vehicles have been proposed and implemented in the prior art. These systems range from more basic map-aided localization-based solutions—i.e. use of a computer system to assist a driver in navigating a route from a starting point to a destination point; to more complex ones such as computer-assisted and/or driver-autonomous driving systems. 
     Some of these systems are implemented as what is commonly known as a “cruise control” system. Within these systems, the computer system boarded on the vehicles maintains a user-set speed of the vehicle. Some of the cruise control systems implement an “intelligent distance control” system, whereby the user can set up a distance to a potential car in front (such as, select a value expressed in a number of vehicles) and the computer system adjusts the speed of the vehicle at least in part based on the vehicle approaching the potential vehicle in front within the pre-defined distance. Some of the cruise control systems are further equipped with collision control systems, which systems, upon detection of the vehicle (or other obstacle) in front of the moving vehicle, slow down or stop the vehicle. 
     Some of the more advanced systems provide for a fully autonomous driving of the vehicle without direct control from the operator (i.e. the driver). These autonomously driven vehicles include systems that can cause the vehicle to accelerate, brake, stop, change lane and self-park. 
     One of the main technical challenges in implementing the above systems is the ability to detect objects located around the vehicle. In one example, the systems may need the ability to detect the vehicle in front of the present vehicle (the present vehicle having the system onboard), which vehicle in front may pose a risk/danger to the present vehicle and may require the system to take a corrective measure, be it braking or otherwise changing speed, stopping or changing lanes. 
     LiDAR-based object detection generally comprises transmitting beams of light towards the region of interest, and detecting reflected light beams, such as from objects in the region of interest, to generate a representation of the region of interest including any objects. Lasers emitting pulses of light within a narrow wavelength are often used as the light source. The position and distance of the object can be computed using Time of Flight calculations of the emitted and detected light beam. By computing such positions as “data points”, a digital multi-dimensional representation of the surroundings can be generated. 
     One of the factors affecting a quality of the generated representation of the surroundings and the objects therein include an ability to detect as much of the reflected light beams as possible. However, detection of ambient light from the surroundings, as well as the reflected light beams from the object, can limit a resolution of the object detection or mask the detection of the object. Other factors affecting the quality of the generated representation of the surroundings and detection of the objects therein is the ability to scan as wide a region of interest as possible. 
     In developing improved LiDAR systems, minimization of cost and maximization of product reliability and longevity are generally a consideration. For example, increasing the numbers of lasers or increasing a scanned area through rotation of components or component parts is often not feasible because of reliability considerations relating to wear and tear leading to premature failure of the system, and increases cost. 
     SUMMARY 
     Therefore, there is a need for systems and methods which avoid, reduce or overcome the limitations of the prior art. 
     Developers have noted that a quality of object detection and/or the representation of the objects in the region of interest is related to an extent of optical noise detected by the system when detecting the reflected light from the objects. The optical noise can include ambient light from the sun, headlights, lamp posts, and the like, which can mask the reflected light from the objects. Increasing the light detection sensitivity is not a solution because this also increases the detected noise signal. Developers have developed a solution that addresses at least some of these concerns. 
     Briefly, aspects of the present technology relate to systems and methods for detecting objects in a region of interest (ROI) comprising a wavelength-based filtering of the light from the region of interest to separate light having wavelengths relating to the reflected light from objects from light having wavelengths relating to the noise. In certain embodiments, the filtered light can then be detected by broadband detectors, which alleviates the requirement of wavelength specific detectors which can add to the cost of the LiDAR system. 
     In accordance with a first broad aspect of the present technology, there is provided a LiDAR system for detecting objects in a region of interest, the system comprising: a radiation source for emitting an output beam at a pre-determined wavelength towards the region of interest; a detection system for detecting an input beam from the region of interest, the detection system including: a return optical fiber configured to capture the input beam, the input beam comprising a desired portion having a wavelength corresponding to the pre-determined wavelength of the output beam, and a noise portion having wavelengths outside of the pre-determined wavelength, the return optical fiber including: a Fiber Bragg Grating (FBG) for filtering the input beam to separate the desired portion of the input beam from the noise portion; and a detector for receiving the desired portion of the input beam. In certain embodiments, the detector is a single broadband detector. 
     In certain embodiments, the FBG filter is configured to transmit the desired portion of the input beam to the single broadband detector along an optical channel of the return optical fiber. 
     In certain other embodiments, the FBG filter is configured to reflect the desired portion of the input beam to the single broadband detector. 
     In certain embodiments, a transmission pathway of the output beam to the region of interest includes a sub-portion that is a same path as a return pathway from the region of interest towards the single broadband detector. 
     The transmission pathway may comprise a transmission optical fiber, the sub-portion of the transmission pathway that is the same path as the return pathway comprising a portion of the transmission optical fiber which is selectively communicatively coupled to the return optical fiber. In certain embodiments, the LiDAR system further comprises an optical circulator for selectively transmitting the input beam from the region of interest to the return optical fiber. The transmission optical fiber and the return optical fiber may each comprise a core and a cladding structure. 
     The sub-portion of the transmission pathway that is the same path as the return pathway may comprise a double-clad fiber, the double-clad fiber having a first portion for transmitting the output beam and a second portion for transmitting the input beam. The LiDAR system may further comprise an optical circulator for selectively transmitting the input beam from the region of interest to the return optical fiber. 
     In certain other embodiments, a transmission pathway of the output beam to the region of interest includes a sub-portion that is a different path as a return pathway from the region of interest towards the single broadband detector. The sub-portion of the transmission pathway that is the different path as the return pathway may comprise separate optical fibers, a first optical fiber for transmitting the output beam and a second optical fiber for transmitting the input beam. In certain embodiments, the second optical fiber is the return optical fiber. 
     In certain embodiments, the return optical fiber comprises an array of optical fibers, each optical fiber having a receiving end, the receiving ends of the optical fibers being configured in a two dimensional array; and a receiving lens for focusing a given input beam to a given receiving end of a given return optical fiber of the fiber optic array. 
     In certain embodiments, the LiDAR system further comprises a microelectromechanical (MEM) component for receiving the output beam on a reflective surface of the MEM component and for reflecting the output beam towards the region of interest, the MEM component configured to oscillate about a first oscillation axis by a first oscillation amplitude to spread the output beam by a vertical interval along a vertical axis in the region of interest. 
     In certain embodiments, the pre-determined wavelength of the output beam is about 1550 nm. 
     From another aspect, there is provided a LiDAR method for detecting objects in a region of interest, the method being implemented by a processor communicatively connected to a LiDAR system, the method comprising: causing a radiation source to emit an output beam towards the region of interest; capturing an input beam in a return optical fiber of a detection system of the LiDAR system, the input beam comprising a desired portion having a wavelength corresponding to the pre-determined wavelength of the output beam the return optical fiber, and a noise portion having wavelengths outside of the pre-determined wavelength, separating the desired portion of the input beam from the noise portion; and detecting the desired portion of the input beam by a detector, the detector comprising a single broadband detector. 
     In certain embodiments, the separating the desired portion of the input beam from the noise portion of the input beam comprises reflecting the desired portion of the input beam to the detector, and transmitting the noise portion along an optical pathway of the return optical fiber. 
     In certain embodiments, the separating the desired portion of the input beam from the noise portion of the input beam comprises transmitting the desired portion of the input beam along an optical pathway of the return optical fiber, and reflecting the noise portion. 
     By means of certain embodiments of the present technology, detection of objects in the ROI can be improved. In certain embodiments, advantages of the present technology include an increased capacity of the system without compromising an expense and complexity of the system. 
     Reduction or removal of a noise aspect of the input beam can permit an increased sensitivity of detection of the objects in the region of interest. Furthermore, by use of filter components, such as FBGs in the return optical fiber, the number of moving parts in the system can be minimized. This can, in turn, translate to costs savings and an increased longevity of the LiDAR system. The combination of a reduction or removal of a noise aspect of the input beam together with a broadband detector, in certain embodiments, as opposed to detectors that detect a narrow band of wavelength, is cost effective without compromising on detection quality. 
     In the context of the present specification, a “radiation source” broadly refers to any device configured to emit radiation such as a radiation signal in the form of a beam. A radiation source includes, but is not limited to a light source configured to emit light beams. The light source may be a laser such as a solid-state laser, laser diode, a high power laser, or an alternative light source such as, a light emitting diode (LED)-based light source. Some (non-limiting) examples of the light source are Fabry-Perot laser diode, a quantum well laser, a distributed Bragg reflector (DBR) laser, a distributed feedback (DFB) laser, a fiber-laser, or a vertical-cavity surface-emitting laser (VCSEL). In addition, the light source may emit light beams in differing formats, such as light pulses, continuous wave (CW), quasi-CW, and so on. In some non-limiting examples, the light source may include a laser diode configured to emit light at a wavelength between about 650 nm and 1150 nm. Alternatively, the light source may include a laser diode configured to emit light beams at a wavelength between about 800 nm and about 1000 nm, between about 850 nm and about 950 nm, between about 1300 nm and about 1600 nm, or in between any other suitable range. Unless indicated otherwise, the term “about” with regard to a numeric value is defined as a variance of up to 10% with respect to the stated value. 
     In the context of the present specification, an “output beam” may also be referred to as a radiation beam, such as a light beam, that is generated by the radiation source and is directed downrange towards a region of interest. The output beam may have one or more parameters such as: beam duration, beam angular dispersion, wavelength, instantaneous power, photon density at different distances from light source, average power, beam power intensity, beam width, beam repetition rate, beam sequence, pulse duty cycle, wavelength, or phase etc. The output beam may be unpolarized or randomly polarized, may have no specific or fixed polarization (e.g., the polarization may vary with time), or may have a particular polarization (e.g., linear polarization, elliptical polarization, or circular polarization). 
     In the context of the present specification, an “input beam” may also be referred to as a radiation beam, such as a light beam, reflected from one or more objects in the ROI. By reflected is meant that at least a portion of the output beam incident on one or more objects in the ROI, bounces off the one or more objects. The output beam may have one or more parameters such as: time-of-flight (i.e., time from emission until detection), instantaneous power (e.g., power signature), average power across entire return pulse, and photon distribution/signal over return pulse period etc. 
     In the context of the present specification, a “Region of Interest” may broadly include a portion of the observable environment of LiDAR system in which the one or more objects may be detected. It is noted that the region of interest of the LiDAR system may be affected by various conditions such as but not limited to: an orientation of the LiDAR system (e.g. direction of an optical axis of the LiDAR system); a position of the LiDAR system with respect to the environment (e.g. distance above ground and adjacent topography and obstacles); operational parameters of the LiDAR system (e.g. emission power, computational settings, defined angles of operation), etc. The ROI of LIDAR system may be defined, for example, by a plane angle or a solid angle. In one example, the ROI may also be defined within a certain range (e.g. up to 200 m or so). 
     In the context of the present specification, a “server” is a computer program that is running on appropriate hardware and is capable of receiving requests (e.g. from electronic devices) over a network, and carrying out those requests, or causing those requests to be carried out. The hardware may be implemented as one physical computer or one physical computer system, but neither is required to be the case with respect to the present technology. In the present context, the use of the expression a “server” is not intended to mean that every task (e.g. received instructions or requests) or any particular task will have been received, carried out, or caused to be carried out, by the same server (i.e. the same software and/or hardware); it is intended to mean that any number of software elements or hardware devices may be involved in receiving/sending, carrying out or causing to be carried out any task or request, or the consequences of any task or request; and all of this software and hardware may be one server or multiple servers, both of which are included within the expression “at least one server”. 
     In the context of the present specification, “electronic device” is any computer hardware that is capable of running software appropriate to the relevant task at hand. In the context of the present specification, the term “electronic device” implies that a device can function as a server for other electronic devices, however it is not required to be the case with respect to the present technology. Thus, some (non-limiting) examples of electronic devices include self-driving unit, personal computers (desktops, laptops, netbooks, etc.), smart phones, and tablets, as well as network equipment such as routers, switches, and gateways. It should be understood that in the present context the fact that the device functions as an electronic device does not mean that it cannot function as a server for other electronic devices. 
     In the context of the present specification, the expression “information” includes information of any nature or kind whatsoever capable of being stored in a database. Thus information includes, but is not limited to visual works (e.g. maps), audiovisual works (e.g. images, movies, sound records, presentations etc.), data (e.g. location data, weather data, traffic data, numerical data, etc.), text (e.g. opinions, comments, questions, messages, etc.), documents, spreadsheets, etc. 
     In the context of the present specification, a “database” is any structured collection of data, irrespective of its particular structure, the database management software, or the computer hardware on which the data is stored, implemented or otherwise rendered available for use. A database may reside on the same hardware as the process that stores or makes use of the information stored in the database or it may reside on separate hardware, such as a dedicated server or plurality of servers. 
     In the context of the present specification, the words “first”, “second”, “third”, etc. have been used as adjectives only for the purpose of allowing for distinction between the nouns that they modify from one another, and not for the purpose of describing any particular relationship between those nouns. Further, as is discussed herein in other contexts, reference to a “first” element and a “second” element does not preclude the two elements from being the same actual real-world element. 
     Implementations of the present technology each have at least one of the above-mentioned object and/or aspects, but do not necessarily have all of them. It should be understood that some aspects of the present technology that have resulted from attempting to attain the above-mentioned object may not satisfy this object and/or may satisfy other objects not specifically recited herein. 
     Additional and/or alternative features, aspects and advantages of implementations of the present technology will become apparent from the following description, the accompanying drawings and the appended claims. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       These and other features, aspects and advantages of the present technology will become better understood with regard to the following description, appended claims and accompanying drawings where: 
         FIG. 1  depicts a schematic diagram of an example computer system for implementing certain embodiments of systems and/or methods of the present technology; 
         FIG. 2  depicts a networked computing environment being suitable for use with certain embodiments of the present technology; 
         FIG. 3  depicts a schematic diagram of an example LiDAR system for implementing certain embodiments of systems and/or methods of the present technology; 
         FIG. 4  depicts an implementation of the LiDAR system of  FIG. 3  according to certain embodiments of the present technology; 
         FIG. 5  is a schematic illustration of a distribution of wavelengths of the input beam, according to certain embodiments of the present technology; 
         FIG. 6  is a schematic illustration of a distribution of wavelengths of a reflected portion of the input beam, according to certain embodiments of the present technology; 
         FIG. 7  is a schematic illustration of a distribution of wavelengths of a transmitted portion of the input beam, according to certain embodiments of the present technology; 
         FIG. 8  depicts an alternative implementation of the LiDAR system of  FIG. 3 , according to certain embodiments of the present technology; 
         FIG. 9  depicts a schematic representation of the LiDAR system of  FIG. 4  implemented in accordance to a specific non-limiting embodiment of the present technology; 
         FIG. 10  depicts a cross-sectional profile of an optical fiber of the LiDAR system of  FIG. 9 ; 
         FIG. 11  depicts a schematic representation of the LiDAR system of  FIG. 4  implemented in accordance to an alternative non-limiting embodiment of the present technology; 
         FIG. 12  depicts a cross-sectional profile of an optical fiber of the LiDAR system of  FIG. 11 ; 
         FIG. 13  depicts a schematic representation of the LiDAR system of  FIG. 4  implemented in accordance to a further alternative non-limiting embodiment of the present technology; 
         FIG. 14  depicts a cross-sectional profile of an optical fiber and a return optical fiber of the LiDAR system of  FIG. 13 ; 
         FIG. 15  depicts a schematic representation of the LiDAR system of  FIG. 4  implemented in accordance to a yet further alternative non-limiting embodiment of the present technology; 
         FIG. 16  depicts a cross-sectional profile of an optical fiber and return optical fibers of the LiDAR system of  FIG. 15  according to certain embodiments of the present technology; 
         FIG. 17  depicts a cross-sectional profile of an optical fiber and return optical fibers of the LiDAR system of  FIG. 15  according to certain embodiments of the present technology; 
         FIG. 18  depicts a schematic illustration of a detector system of the LiDAR system of  FIG. 4  implemented in accordance to certain non-limiting embodiments of the present technology; and 
         FIG. 19  illustrates a flowchart of a method for detecting objects in a region of interest, in accordance with various non-limiting embodiments of the present technology. 
     
    
    
     DETAILED DESCRIPTION 
     The examples and conditional language recited herein are principally intended to aid the reader in understanding the principles of the present technology and not to limit its scope to such specifically recited examples and conditions. It will be appreciated that those skilled in the art may devise various arrangements which, although not explicitly described or shown herein, nonetheless embody the principles of the present technology and are included within its spirit and scope. 
     Furthermore, as an aid to understanding, the following description may describe relatively simplified implementations of the present technology. As persons skilled in the art would understand, various implementations of the present technology may be of a greater complexity. 
     In some cases, what are believed to be helpful examples of modifications to the present technology may also be set forth. This is done merely as an aid to understanding, and, again, not to define the scope or set forth the bounds of the present technology. These modifications are not an exhaustive list, and a person skilled in the art may make other modifications while nonetheless remaining within the scope of the present technology. Further, where no examples of modifications have been set forth, it should not be interpreted that no modifications are possible and/or that what is described is the sole manner of implementing that element of the present technology. 
     Moreover, all statements herein reciting principles, aspects, and implementations of the technology, as well as specific examples thereof, are intended to encompass both structural and functional equivalents thereof, whether they are currently known or developed in the future. Thus, for example, it will be appreciated by those skilled in the art that any block diagrams herein represent conceptual views of illustrative circuitry embodying the principles of the present technology. Similarly, it will be appreciated that any flowcharts, flow diagrams, state transition diagrams, pseudo-code, and the like represent various processes which may be substantially represented in computer-readable media and so executed by a computer or processor, whether or not such computer or processor is explicitly shown. 
     The functions of the various elements shown in the figures, including any functional block labeled as a “processor”, may be provided through the use of dedicated hardware as well as hardware capable of executing software in association with appropriate software. When provided by a processor, the functions may be provided by a single dedicated processor, by a single shared processor, or by a plurality of individual processors, some of which may be shared. Moreover, explicit use of the term “processor” or “controller” should not be construed to refer exclusively to hardware capable of executing software, and may implicitly include, without limitation, digital signal processor (DSP) hardware, network processor, application specific integrated circuit (ASIC), field programmable gate array (FPGA), read-only memory (ROM) for storing software, random access memory (RAM), and non-volatile storage. Other hardware, conventional and/or custom, may also be included. 
     Software modules, or simply modules which are implied to be software, may be represented herein as any combination of flowchart elements or other elements indicating performance of process steps and/or textual description. Such modules may be executed by hardware that is expressly or implicitly shown. 
     With these fundamentals in place, we will now consider some non-limiting examples to illustrate various implementations of aspects of the present technology. 
     Computer System 
     Referring initially to  FIG. 1 , there is shown a computer system  100  suitable for use with some implementations of the present technology, the computer system  100  comprising various hardware components including one or more single or multi-core processors collectively represented by processor  110 , a solid-state drive  120 , a memory  130 , which may be a random-access memory or any other type of memory. 
     Communication between the various components of the computer system  100  may be enabled by one or more internal and/or external buses (not shown) (e.g. a PCI bus, universal serial bus, IEEE 1394 “Firewire” bus, SCSI bus, Serial-ATA bus, etc.), to which the various hardware components are electronically coupled. According to embodiments of the present technology, the solid-state drive  120  stores program instructions suitable for being loaded into the memory  130  and executed by the processor  110  for determining a presence of an object. For example, the program instructions may be part of a vehicle control application executable by the processor  110 . It is noted that the computer system  100  may have additional and/or optional components (not depicted), such as network communication modules, locationalization modules, and the like. 
     Networked Computer Environment 
       FIG. 2  illustrates a networked computer environment  200  suitable for use with some embodiments of the systems and/or methods of the present technology. The networked computer environment  200  comprises an electronic device  210  associated with a vehicle  220 , and/or associated with a user (not depicted) who is associated with the vehicle  220 , such as an operator of the vehicle  220 , a server  235  in communication with the electronic device  210  via a communication network  240  (e.g. the Internet or the like, as will be described in greater detail herein below). 
     Optionally, the networked computer environment  200  can also include a GPS satellite (not depicted) transmitting and/or receiving a GPS signal to/from the electronic device  210 . It will be understood that the present technology is not limited to GPS and may employ a positioning technology other than GPS. It should be noted that the GPS satellite can be omitted altogether. 
     The vehicle  220  to which the electronic device  210  is associated may comprise any transportation vehicle, for leisure or otherwise, such as a private or commercial car, truck, motorbike or the like. Although the vehicle  220  is depicted as being a land vehicle, this may not be the case in each embodiment of the present technology. For example, the vehicle  220  may be a watercraft, such as a boat, or an aircraft, such as a flying drone. 
     The vehicle  220  may be user operated or a driver-less vehicle. In at least some embodiments of the present technology, it is contemplated that the vehicle  220  may be implemented as a Self-Driving Car (SDC). It should be noted that specific parameters of the vehicle  220  are not limiting, these specific parameters including: vehicle manufacturer, vehicle model, vehicle year of manufacture, vehicle weight, vehicle dimensions, vehicle weight distribution, vehicle surface area, vehicle height, drive train type (e.g. 2× or 4×), tire type, brake system, fuel system, mileage, vehicle identification number, and engine size. 
     The implementation of the electronic device  210  is not particularly limited, but as an example, the electronic device  210  may be implemented as a vehicle engine control unit, a vehicle CPU, a vehicle navigation device (e.g. TomTom™, Garmin™), a tablet, a personal computer built into the vehicle  220 , and the like. Thus, it should be noted that the electronic device  210  may or may not be permanently associated with the vehicle  220 . Additionally or alternatively, the electronic device  210  can be implemented in a wireless communication device such as a mobile telephone (e.g. a smart-phone or a radio-phone). In certain embodiments, the electronic device  210  has a display  270 . 
     The electronic device  210  may comprise some or all of the components of the computer system  100  depicted in  FIG. 1 . In certain embodiments, the electronic device  210  is an on-board computer device and comprises the processor  110 , the solid-state drive  120  and the memory  130 . In other words, the electronic device  210  comprises hardware and/or software and/or firmware, or a combination thereof, for processing data as will be described in greater detail below. 
     In some embodiments of the present technology, the communication network  240  is the Internet. In alternative non-limiting embodiments, the communication network  240  can be implemented as any suitable local area network (LAN), wide area network (WAN), a private communication network or the like. It should be expressly understood that implementations for the communication network  240  are for illustration purposes only. A communication link (not separately numbered) is provided between the electronic device  210  and the communication network  240 , the implementation of which will depend inter alia on how the electronic device  210  is implemented. Merely as an example and not as a limitation, in those embodiments of the present technology where the electronic device  210  is implemented as a wireless communication device such as a smartphone or a navigation device, the communication link can be implemented as a wireless communication link. Examples of wireless communication links include, but are not limited to, a 3G communication network link, a 4G communication network link, and the like. The communication network  240  may also use a wireless connection with the server  235 . 
     In some embodiments of the present technology, the server  235  is implemented as a computer server and may comprise some or all of the components of the computer system  100  of  FIG. 1 . In one non-limiting example, the server  235  is implemented as a Dell™ PowerEdge™ Server running the Microsoft™ Windows Server™ operating system, but can also be implemented in any other suitable hardware, software, and/or firmware, or a combination thereof. In the depicted non-limiting embodiments of the present technology, the server is a single server. In alternative non-limiting embodiments of the present technology (not shown), the functionality of the server  235  may be distributed and may be implemented via multiple servers. 
     In some non-limiting embodiments of the present technology, the processor  110  of the electronic device  210  can be in communication with the server  235  to receive one or more updates. The updates can be, but are not limited to, software updates, map updates, routes updates, weather updates, and the like. In some embodiments of the present technology, the processor  110  can also be configured to transmit to the server  235  certain operational data, such as routes travelled, traffic data, performance data, and the like. Some or all data transmitted between the vehicle  220  and the server  235  may be encrypted and/or anonymized. 
     It should be noted that a variety of sensors and systems may be used by the electronic device  210  for gathering information about surroundings  250  of the vehicle  220 . As seen in  FIG. 2 , the vehicle  220  may be equipped with a plurality of sensor systems  280 . It should be noted that different sensor systems from the plurality of sensor systems  280  may be used for gathering different types of data regarding the surroundings  250  of the vehicle  220 . 
     In one example, the plurality of sensor systems  280  may comprise one or more camera-type sensor systems that are mounted to the vehicle  220  and communicatively coupled to the processor  110 . Broadly speaking, the one or more camera-type sensor systems may be configured to gather image data about various portions of the surroundings  250  of the vehicle  220 . In some cases, the image data provided by the one or more camera-type sensor systems may be used by the electronic device  210  for performing object detection procedures. For example, the electronic device  210  may be configured to feed the image data provided by the one or more camera-type sensor systems to an Object Detection Neural Network (ODNN) that has been trained to localize and classify potential objects in the surroundings  250  of the vehicle  220 . 
     In another example, the plurality of sensor systems  280  may comprise one or more radar-type sensor systems that are mounted to the vehicle  220  and communicatively coupled to the processor  110 . Broadly speaking, the one or more radar-type sensor systems may be configured to make use of radio waves to gather data about various portions of the surroundings  250  of the vehicle  220 . For example, the one or more radar-type sensor systems may be configured to gather radar data about potential objects in the surroundings  250  of the vehicle  220  and which data may be representative of distance of objects from the radar-type sensor system, orientation of objects, velocity and/or speed of objects, and the like. 
     It should be noted that the plurality of sensor systems  280  may comprise additional types of sensor systems to those non-exhaustively described above and without departing from the scope of the present technology. 
     Furthermore, the vehicle  220  is equipped with one or more Light Detection and Ranging (LiDAR) systems for gathering information about surroundings  250  of the vehicle  220 . The LiDAR systems may be in addition to, or in some cases instead of, the plurality of sensor systems  280 . A given LiDAR system  230  from the one or more LiDAR systems may be mounted, or retrofitted, to the vehicle  220  in a variety of locations and/or in a variety of configurations. 
     For example, a given LiDAR system  230  may be mounted on an interior, upper portion of a windshield of the vehicle  220 . Nevertheless, as illustrated in  FIG. 2 , other locations for mounting the given LiDAR system  230  are within the scope of the present disclosure, including on a back window, side windows, front hood, rooftop, front grill, front bumper or the side of the vehicle  220 . In some cases, the given LiDAR system  230  can even be mounted in a dedicated enclosure mounted on the top of the vehicle  220 . 
     As mentioned above, the LiDAR system  230  may also be mounted in a variety of configurations. 
     In one embodiment, such as that of  FIG. 2 , the given LiDAR system  230  of the one or more LiDAR systems is mounted to the rooftop of the vehicle  220  in a rotatable configuration. For example, the given LiDAR system  230  mounted to the vehicle  220  in a rotatable configuration may comprise at least some components that are rotatable 360 degrees about an axis of rotation of the given LiDAR system  230 . It should be noted that the given LiDAR system  230  mounted in rotatable configurations may gather data about most of the portions of the surroundings  250  of the vehicle  220 . 
     In another embodiment, such as that of  FIG. 2 , the given LiDAR system  230  of the one or more LiDAR systems is mounted to the side, or the front grill, for example, in a non-rotatable configuration. For example, the given LiDAR system  230  mounted to the vehicle  220  in a non-rotatable configuration may comprise at least some components that are not rotatable 360 degrees and are configured to gather data about pre-determined portions of the surroundings  250  of the vehicle  220 . 
     Irrespective of the specific location and/or the specific configuration of the given LiDAR system  230 , the LiDAR system  230  is configured to capture data about the surroundings  250  of the vehicle  220  for building a multi-dimensional map of objects in the surroundings  250  of the vehicle  220 . How the given LiDAR system  230  are configured to capture data about the surroundings  250  of the vehicle  220  will now be described. 
     LiDAR System 
     With reference to  FIG. 3 , there is depicted a non-limiting example of a LiDAR system  310 . It should be noted that the LiDAR system  230  (see  FIG. 2 ) may be implemented in a similar manner to the implementation of the LiDAR system  310 . 
     Broadly speaking, the LiDAR system  310  may comprise a variety of internal components such as, but not limited to: (i) a light source component  312  (also referred to as a “radiation source component”), (ii) a scanner component  316 , (iii) a receiver component  318  (also referred to herein as a “detection system”), and (iv) a controller component  320 . It is contemplated that in addition to the internal components non-exhaustively listed above, the LiDAR system  310  may further comprise a variety of sensors (such as, for example, a temperature sensor, a moisture sensor, etc.) which are omitted from  FIG. 3  for sake of clarity. 
     In certain embodiments, one or more of the internal components of the LiDAR system  310  may be implemented in a common housing  340  as depicted in  FIG. 3 . In other implementations, at least the controller component  320  may be located outside of the common housing  340 , and optionally remotely thereto. 
     Light Source Component 
     The light source component  312  is communicatively coupled to the controller component  320  and is configured to emit radiation, such as a radiation signal in the form of a beam. In certain embodiments, the light source component  312  is configured to emit light. The light source component  312  comprises one or more lasers that emit light having a particular operating wavelength. The operating wavelength of the light source component  312  may be in the infrared, visible, and/or ultraviolet portions of the electromagnetic spectrum. For example, the light source component  312  may include one or more lasers with an operating wavelength between about 650 nm and 1150 nm. Alternatively, the light source may include a laser diode configured to emit light at a wavelength between about 800 nm and about 1000 nm, between about 850 nm and about 950 nm, or between about 1300 nm and about 1600 nm. However, it should be noted that the light source component  312  may include lasers with different operating wavelengths, without departing from the scope of the present technology. In certain other embodiments, the light source component  312  comprises a light emitting diode (LED). 
     In operation, the light source component  312  generates an output beam  322  of light. It is contemplated that the output beam  322  may have any suitable form such as continuous-wave, or pulsed. As illustrated in  FIG. 3 , the output beam  322  exits the LiDAR system  310  and is directed downrange towards the surroundings  250 . 
     Let it be assumed that an object  330  is located at a distance  390  from the LiDAR system  310 . It should be noted though, as will be explained below in greater detail, the presence of the object  330  and the distance  390  are not apriori known and that the purpose of the LiDAR system  310  is to locate the object  330  and/or capture data for building a multi-dimensional map of at least a portion of the surroundings  250  with the object  330  (and other potential objects) being represented in it in a form of one or more data points. 
     Once the output beam  322  reaches the object  330 , the object  330  may reflect at least a portion of light from the output beam  322 , and some of the reflected light beams may return back towards the LiDAR system  310 . By reflected is meant that at least a portion of light beam from the output beam  322  bounces off the object  330 . A portion of the light beam from the output beam  322  may be absorbed by the object  330 . 
     In the example illustrated in  FIG. 3 , the reflected light beam is represented by input beam  324 . The input beam  324  is captured by the LiDAR system  310  via the receiver component  318 . It should be noted that, in some cases, the input beam  324  may contain only a relatively small fraction of the light from the output beam  322 . It should also be noted that an angle of the input beam  324  relative to a surface of the object  330  (“angle of incidence”) may be the same or different than an angle of the output beam  322  relative to surface of the object  330  (“angle of reflection”). 
     The operating wavelength of the LiDAR system  310  may lie within portions of the electromagnetic spectrum that correspond to light produced by the sun. Therefore, in some cases, sunlight may act as background noise which can obscure the light signal detected by the LiDAR system  310 . This solar background noise can result in false-positive detections and/or may otherwise corrupt measurements of the LiDAR system  310 . Although it may be feasible to increase a Signal-to-Noise Ratio (SNR) of the LiDAR system  310  by increasing the power level of the output beam  322 , this may not be desirable in at least some situations. For example, increasing power levels of the output beam  322  may result in the LiDAR system  310  not being eye-safe. 
     It is contemplated that the LiDAR system  310  may comprise an eye-safe laser, or put another way, the LiDAR system  310  may be classified as an eye-safe laser system or laser product. Broadly speaking, an eye-safe laser, laser system, or laser product may be a system with some or all of: an emission wavelength, average power, peak power, peak intensity, pulse energy, beam size, beam divergence, exposure time, or scanned output beam such that emitted light from this system presents little or no possibility of causing damage to a person&#39;s eyes. 
     As previously alluded to, the light source component  312  may include one or more pulsed lasers configured to produce, emit, or radiate pulses of light with certain pulse duration. For example, the light source component  312  may be configured to emit pulses with a pulse duration (e.g., pulse width) ranging from 10 ps to 100 ns. In another example, the light source component  312  may emit pulses at a pulse repetition frequency of approximately 100 kHz to 5 MHz or a pulse period (e.g., a time between consecutive pulses) of approximately 200 ns to 10 μs. Overall, however, the light source component  312  can generate the output beam  322  with any suitable average optical power, and the output beam  322  may include optical pulses with any suitable pulse energy or peak optical power for a given application. 
     In some embodiments, the light source component  312  may comprise one or more laser diodes, such as but not limited to: Fabry-Perot laser diode, a quantum well laser, a distributed Bragg reflector (DBR) laser, a distributed feedback (DFB) laser, or a vertical-cavity surface-emitting laser (VCSEL). Just as examples, a given laser diode operating in the light source component  312  may be an aluminum-gallium-arsenide (AlGaAs) laser diode, an indium-gallium-arsenide (InGaAs) laser diode, or an indium-gallium-arsenide-phosphide (InGaAsP) laser diode, or any other suitable laser diode. It is also contemplated that the light source component  312  may include one or more laser diodes that are current-modulated to produce optical pulses. 
     In some embodiments, the output beam  322  emitted by the light source component  312  is a collimated optical beam with any suitable beam divergence for a given application. Broadly speaking, divergence of the output beam  322  is an angular measure of an increase in beam size (e.g., a beam radius or beam diameter) as the output beam  322  travels away from the light source component  312  or the LiDAR system  310 . In some embodiments, the output beam  322  may have a substantially circular cross section. 
     It is also contemplated that the output beam  322  emitted by light source component  312  may be unpolarized or randomly polarized, may have no specific or fixed polarization (e.g., the polarization may vary with time), or may have a particular polarization (e.g., the output beam  322  may be linearly polarized, elliptically polarized, or circularly polarized). 
     In at least some embodiments, the output beam  322  and the input beam  324  may be substantially coaxial. In other words, the output beam  322  and input beam  324  may at least partially overlap or share a common propagation axis, so that the input beam  324  and the output beam  322  travel along substantially the same optical path (albeit in opposite directions). Nevertheless, in other embodiments, it is contemplated that the output beam  322  and the input beam  324  may not be coaxial, or in other words, may not overlap or share a common propagation axis inside the LiDAR system  310 , without departing from the scope of the present technology. 
     It should be noted that in at least some embodiments of the present technology, the light source component  312  may be rotatable, such as by 360 degrees or less, about the axis of rotation (not depicted) of the LiDAR system  310  when the LiDAR system  310  is implemented in a rotatable configuration. However, in other embodiments, the light source component  312  may be stationary even when the LiDAR system  310  is implemented in a rotatable configuration, without departing from the scope of the present technology. 
     Internal Beam Paths 
     As schematically illustrated in  FIG. 3 , the LiDAR system  310  may make use of a given internal beam path from a plurality of internal beam paths  314  for emitting the output beam  322  (generated by the light source component  312 ) towards the surroundings  250 . In one example, the given internal beam path amongst the plurality of internal beam paths  314  may allow providing the light from the light source component  312  to the scanner component  316  and, in turn, the scanner component  316  may allow the output beam  322  to be directed downrange towards the surroundings  250 . 
     Also, the LiDAR system  310  may make use of another given internal beam path from the plurality of internal beam paths  314  for providing the input beam  324  to the receiver component  318 . In one example, the another given internal beam path amongst the plurality of internal beam paths  314  may allow providing the input beam  324  from the scanner component  316  to the receiver component  318 . In another example, the another given internal beam path amongst the plurality of internal beam paths  314  may allow providing the input beam  324  directly from the surroundings  250  to the receiver component  318  (without the input beam  324  passing through the scanner component  316 ). 
     It should be noted that the plurality of internal beam paths  314  may comprise a variety of optical components. For example, the LiDAR system  310  may include one or more optical components configured to condition, shape, filter, modify, steer, or direct the output beam  322  and/or the input beam  324 . For example, the LiDAR system  310  may include one or more lenses, mirrors, filters (e.g., band pass or interference filters), optical fibers, circulators, beam splitters, polarizers, polarizing beam splitters, wave plates (e.g., half-wave or quarter-wave plates), diffractive elements, microelectromechanical (MEM) elements, collimating elements, or holographic elements. 
     It is contemplated that in at least some embodiments, the given internal beam path and the another internal beam path from the plurality of internal beam paths  314  may share at least some common optical components, however, this might not be the case in each and every embodiment of the present technology. 
     Scanner Component 
     Generally speaking, the scanner component  316  steers the output beam  322  in one or more directions downrange towards the surroundings  250 . The scanner component  316  may comprise a variety of optical components and/or mechanical-type components for performing the scanning of the output beam  322 . For example, the scanner component  316  may include one or more mirrors, prisms, lenses, MEM components, piezoelectric components, optical fibers, splitters, diffractive elements, collimating elements, and the like. It should be noted that the scanner component  316  may also include one or more actuators (not illustrated) driving at least some optical components to rotate, tilt, pivot, or move in an angular manner about one or more axes, for example. 
     The scanner component  316  may be configured to scan the output beam  322  over a variety of horizontal angular ranges and/or vertical angular ranges. In other words, the scanner component  316  may be instrumental in providing the LiDAR system  310  with a desired Region of Interest (ROI)  380 . The ROI  380  of the LiDAR system  310  may refer to an area, a volume, a region, an angular range, and/or portion(s) of the surroundings  250  about which the LiDAR system  310  may be configured to scan and/or can capture data. 
     It should be noted that the scanner component  316  may be configured to scan the output beam  322  horizontally and/or vertically, and as such, the ROI  380  of the LiDAR system  310  may have a horizontal direction and a vertical direction. For example, the LiDAR system  310  may have a horizontal ROI  380  of 360 degrees and a vertical ROI  380  of 45 degrees. 
     The scanner component  316  may be communicatively coupled to the controller component  320 . As such, the controller component  320  may be configured to control the scanner component  316  so as to guide the output beam  322  in a desired direction downrange and/or along a desired scan pattern. Broadly speaking, a scan pattern may refer to a pattern or path along which the output beam  322  is directed by the scanner component  316  during operation. 
     The LiDAR system  310  may thus make use of the scan pattern to generate a point cloud substantially covering the ROI  380  of the LiDAR system  310 . As will be described in greater detail herein further below, this point cloud of the LiDAR system  310  may be used to render a multi-dimensional map of objects in the surroundings  250  of the vehicle  220 . 
     In operation, in certain embodiments, the light source component  312  emits pulses of light (represented by the output beam  322 ) which the scanner component  316  scans across the ROI  380  of the LiDAR system  310  in accordance with the scan pattern. As mentioned above, the object  330  may reflect one or more of the emitted pulses. The receiver component  318  receives or detects photons from the input beam  324  and generates one or more representative data signals. For example, the receiver component  318  may generate an output electrical signal (not depicted) that is representative of the input beam  324 . The receiver component  318  may also provide the so-generated electrical signal to the controller component  320  for further processing. 
     The Receiver Component 
     The receiver component  318  is communicatively coupled to the controller component  320  and may be implemented in a variety of ways. For example, the receiver component  318  may comprise a photoreceiver, optical receiver, optical sensor, detector, photodetector, optical detector, optical fibers, and the like. As mentioned above, in some embodiments, the receiver component  318  acquires or detects at least a portion of the input beam  324  and produces an electrical signal that corresponds to the input beam  324 . For example, if the input beam  324  includes an optical pulse, the receiver component  318  may produce an electrical current or voltage pulse that corresponds to the optical pulse detected by the receiver component  318 . 
     It is contemplated that the receiver component  318  may be implemented with one or more avalanche photodiodes (APDs), one or more single-photon avalanche diodes (SPADs), one or more PN photodiodes (e.g., a photodiode structure formed by a p-type semiconductor and a n-type semiconductor), one or more PIN photodiodes (e.g., a photodiode structure formed by an undoped intrinsic semiconductor region located between p-type and n-type regions), and the like. 
     In some non-limiting embodiments, the receiver component  318  may also comprise circuitry that performs signal amplification, sampling, filtering, signal conditioning, analog-to-digital conversion, time-to-digital conversion, pulse detection, threshold detection, rising-edge detection, falling-edge detection, and the like. For example, the receiver component  318  may include electronic components configured to convert a received photocurrent (e.g., a current produced by an APD in response to a received optical signal) into a voltage signal. The receiver component  318  may also include additional circuitry for producing an analog or digital output signal that corresponds to one or more characteristics (e.g., rising edge, falling edge, amplitude, duration, and the like) of a received optical pulse. 
     Controller Component 
     Depending on the implementation, the controller component  320  may include one or more processors, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), and/or other suitable circuitry. The controller component  320  may also include non-transitory computer-readable memory to store instructions executable by the controller component  320  as well as data which the controller component  320  may produce based on the signals acquired from other internal components of the LiDAR system  310  and/or may provide signals to the other internal components of the LiDAR system  310 . The memory can include volatile (e.g., RAM) and/or non-volatile (e.g., flash memory, a hard disk) components. The controller component  320  may be configured to generate data during operation and store it in the memory. For example, this data generated by the controller component  320  may be indicative of the data points in the point cloud of the LiDAR system  310 . 
     It is contemplated that in at least some non-limiting embodiments of the present technology, the controller component  320  may be implemented in a similar manner to the electronic device  210  and/or the computer system  100 , without departing from the scope of the present technology. 
     In addition to collecting data from the receiver component  318 , the controller component  320  may also be configured to provide control signals to, and potentially receive diagnostics data from, the light source component  312  and the scanner component  316 . 
     As previously stated, the controller component  320  is communicatively coupled to one or more of the light source component  312 , the scanner component  316 , and the receiver component  318 . The controller component  320  may receive electrical trigger pulses from the light source component  312 , where each electrical trigger pulse corresponds to the emission of an optical pulse by the light source component  312 . The controller component  320  may further provide instructions, a control signal, and/or a trigger signal to the light source component  312  indicating when the light source component  312  is to produce optical pulses. 
     Just as an example, the controller component  320  may be configured to send an electrical trigger signal that includes electrical pulses, so that the light source component  312  emits an optical pulse in response to each electrical pulse of the electrical trigger signal. It is also contemplated that, the controller component  320  may cause the light source component  312  to adjust one or more characteristics of light produced by the light source component  312  such as, but not limited to: frequency, period, duration, pulse energy, peak power, average power, and wavelength of the optical pulses. 
     It should be noted that the controller component  320  may be configured to determine a “time-of-flight” value for an optical pulse based on timing information associated with (i) when a given pulse was emitted by light source component  312 , and (ii) when a portion of the pulse (e.g., from the input beam  324 ) was detected or received by the receiver component  318 . 
     It is contemplated that the controller component  320  may be configured to analyze one or more characteristics of the electrical signals from the light source component  312  and/or the receiver component  318  to determine one or more characteristics of the object  330  such as the distance  390  downrange from the LiDAR system  310 . 
     For example, the controller component  320  may determine the time of flight value and/or a phase modulation value for the emitted pulse of the output beam  322 . Let it be assumed that the LiDAR system  310  determines a time-of-light value “T” representing, in a sense, a “round-trip” time for an emitted pulse to travel from the LiDAR system  310  to the object  330  and back to the LiDAR system  310 . As a result, the controller component  320  may be configured to determine the distance  390  in accordance with the following equation: 
     
       
         
           
             
               
                 
                   D 
                   = 
                   
                     
                       c 
                       * 
                       T 
                     
                     2 
                   
                 
               
               
                 
                   ( 
                   
                     Equation 
                      
                     
                         
                     
                      
                     1 
                   
                   ) 
                 
               
             
           
         
       
     
     wherein D is the distance  390 , T is the time-of-flight value, and c is the speed of light (approximately 3.0×10 8  m/s). 
     As previously alluded to, the LiDAR system  310  may be used to determine the distance to one or more other potential objects located in the surroundings  250 . By scanning the output beam  322  across the ROI  380  of the LiDAR system  310  in accordance with a scanning pattern, the LiDAR system  310  is configured to map distances (similar to the distance  390 ) to respective data points within the ROI  380  of the LiDAR system  310 . As a result, the LiDAR system  310  may be configured to render these data points captured in succession (e.g., the point cloud) in a form of a multi-dimensional map. 
     As an example, this multi-dimensional map may be used by the electronic device  210  for detecting, or otherwise identifying, objects or determining a shape or distance of potential objects within the ROI  380  of the LiDAR system  310 . It is contemplated that the LiDAR system  310  may be configured to repeatedly/iteratively capture and/or generate point clouds at any suitable rate for a given application. 
     It should be noted that a location of a given object in the surroundings  250  of the vehicle  220  may be overlapped, encompassed, or enclosed at least partially within the ROI of the LiDAR system  310 . For example, the object  330  may include all or a portion of a person, vehicle, motorcycle, truck, train, bicycle, wheelchair, pushchair, pedestrian, animal, road sign, traffic light, lane marking, road-surface marking, parking space, pylon, guard rail, traffic barrier, pothole, railroad crossing, obstacle in or near a road, curb, stopped vehicle on or beside a road, utility pole, house, building, trash can, mailbox, tree, any other suitable object, or any suitable combination of all or part of two or more objects. 
     Specific System Components 
     With reference to  FIG. 4 , there is depicted an implementation of the LiDAR system  310  executed in accordance to a specific non-limiting embodiment of the present technology. 
     More specifically, in the LiDAR system  310 , the light source component  312  comprises a laser  402  and optionally a collimator  404  for generating and emitting the output beam  322  at a pre-determined wavelength towards the region of interest; and the receiver component  318  comprises an optical detector  406  communicatively coupled to a return optical fiber  408 , the return optical fiber  408  having a filter component  410  for separating a desired portion of the input beam  324  from a noise portion of the input beam  324 . The desired portion has a wavelength corresponding to a pre-determined wavelength of the output beam  322 , and the noise portion has wavelengths outside of the pre-determined wavelength. 
     It is to be noted that other elements may be present but not illustrated for purposes of clarity. 
     In certain embodiments, the generated output beam  322  comprises a plurality of sequential output beams. Further, each output beam  322  may be collimated and/or modulated by the collimator  404 . In certain embodiments, the laser  402  is arranged to emit light at the pre-determined wavelength of 1550 nm. In these embodiments, the desired portion of the input beam  324  can be considered to be a wavelength or a range of wavelengths including 1550 nm, such as one of: 1550 nm±1 nm; 1550 nm±2 nm; 1550 nm±3 nm; 1550 nm±4 nm; 1550 nm±5 nm; 1550 nm±10 nm; and 1550 nm±20 nm. The noise portion of the input beam  324  can be considered to be a wavelength other than 1550 nm, or wavelengths outside of the pre-determined wavelength range. 
     As previously discussed, the LiDAR system  310  may make use of a given internal beam path from a plurality of internal beam paths  314  for emitting the output beam  322  towards the ROI  380 . In this respect, the scanner component  316  may comprise any suitable system for emitting the output beam to the ROI  380 . Without limitation, in certain embodiments, the scanner component  316  comprises an actuator coupled to a transmitting optical fiber, the actuator arranged to modulate an output end of the transmitting optical fiber as described in Russian application entitled “LiDAR SYSTEMS AND METHODS FOR DETECTING OBJECTS IN A REGION OF INTEREST”, the contents of which are hereby incorporated by reference. In certain embodiments, the scanner component  316  comprises a microelectromechanical (MEM) component, and optionally passive reflective components, for enhancing a scanned area using the output beam  322 , as described in Russian application entitled “LiDAR SYSTEMS AND METHODS FOR DETECTING OBJECTS IN A REGION OF INTEREST”, the contents of which are hereby incorporated by reference. 
     In certain embodiments, the LiDAR system is a rotational system and one or more of the light source component  312 , the scanner component  316 , and the LiDAR system  310 , may be configured to rotate horizontally to scan the ROI  380 . In this respect, a platform (not shown) may be provided, inside the LiDAR system  310  or as part of the common housing  340  for example, for supporting the one or more of the light source component  312 , the scanner component  316 , and the LiDAR system  310  for horizontal movement. 
     Once reflected from the object  330  in the ROI  380 , the return optical fiber  408  is arranged to capture the input beam  324  and to transmit the input beam  324  to the optical detector  406 . The return optical fiber  408  may be arranged to capture the input beam  324  directly from the ROI  380 , or indirectly through optical components (not shown) arranged to direct or transmit the input beam  324 . A return pathway  409  of the input beam  324  may have a sub-portion that is a same path as a transmission pathway  411  of the output beam  322 , or the transmission and return pathways  411 ,  409  may be separate. 
     In certain embodiments, the optical detector  406  is a broadband detector, such as a semiconductor photodiode. In certain embodiments, the LiDAR system  310  is provided with a single optical detector  406 . The broadband detector may be configured to capture+/−30 degrees and pass onto the detector 0.1 nanometer for example, with all other wavelengths having been filtered out. 
     Turning now to the return optical fiber  408  and the filter component  410 , as previously stated, the filter component  410  is arranged to separate the desired portion of the input beam  324  from the noise portion of the input beam  324 . In certain embodiments, the filter component  410  comprises a Fiber Bragg Grating (FBG) formed in the return optical fiber  408 , the FBG comprising portions of a core  412  of the return optical fiber  408  having a different refractive index than other portions of the core  412 . The FBG, in certain embodiments, functions as a dielectric mirror reflecting certain wavelengths and transmitting other wavelengths. In certain embodiments, the FBG is configured to reflect the desired portion of the input beam  324  to the optical detector  406  ( FIG. 4 ). As illustrated schematically in  FIG. 5 , the input beam  324  comprises a broad range of wavelengths. By means of the FBG, the desired portion of the input beam  324 , which is a narrower subset of the input beam  324 , is reflected to the optical detector  406  ( FIG. 6 ), and the remaining portion of the input beam  324  is transmitted along the return optical fiber  408  from an input end  414  to an output end  415  thereof. 
     In certain other embodiments, the FBG is configured to transmit the desired portion of the input beam  324  to the optical detector  406  along an optical axis of the return optical fiber  408  from the input end  414  to the output end  415  ( FIG. 8 ). In certain other embodiments, any other type of filter component  410  can be provided instead of the FBG for separating the desired portion from the noise portion. 
     The receiver component  318  may include other components which are not shown in the drawings such as optical components, such as lenses, prisms, mirrors and the like for directing the input beam  324  to the input end  414  of the return optical fiber  408 , or focusing the input beam  324 . The optical component may be at a distance corresponding to a focal distance of the light to be detected. 
     As previously discussed, the LiDAR system  310  may make use of a given internal beam path from a plurality of internal beam paths  314  for emitting the output beam  322  generated by the light source component  312  towards the ROI  380  and for receiving the reflected beams by the receiver component  318 . 
     As mentioned earlier, in certain embodiments, the transmission pathway  411  of the output beam  322  to the ROI  380  includes a sub-portion that is the same as the return pathway  409  from the ROI  380  towards the optical detector  406 . In other words, the output beam  322  and the input beam  324  may at least partially overlap or share a common propagation axis, so that output beam  322  and the input beam  324  travel along substantially the same optical path (albeit in different directions). 
     An embodiment of this implementation is illustrated in  FIG. 9  in which the transmission pathway  411  comprises a transmission optical fiber  418  for transmitting the output beam  322  from the light source component  312  to the scanner component  316  where it is emitted to the ROI  380 . The return pathway  409  comprises a portion of the transmission optical fiber  418  and the return optical fiber  408  communicatively coupling the scanner component  316  with the optical detector  406 . As such, the return pathway  409  includes the input beam  324  being transmitted by the scanner component  316  and being redirected to the optical detector  406  by an optical circulator  420 . In other embodiments, the return optical fiber  408  and the transmission optical fiber  418  are connected by an optical connector (not shown). In such embodiments, a portion of the transmission optical fiber  418  functions as part of both the transmission pathway  411  and the return pathway  409 . 
     The transmission optical fiber  418  and the return optical fiber  408 , in these embodiments, each comprise a single cladding optical fiber  422  having a single channel through which light may propagate, in these instances a core  424  surrounded by a cladding  425 . The core  424  can permit light propagation in two opposing directions at different times. 
     The optical circulator  420  is communicatively coupled to the controller component  320 . The controller component  320  can cause the optical circulator  420  to control the direction of light propagation through the transmission optical fiber  418  and the return optical fiber  408 . In other words, the controller component  320  can cause the optical circulator  420  to redirect the input beam  324  to the return optical fiber  408 . In an output phase, the optical circulator  420  is configured to allow light to be transmitted in a direction from the light source component  312  to the scanner component  316 . In an input phase, the optical circulator  420  is configured to transmit light in a direction from the scanner component  316  to the receiver component  318  (from the scanner component  316  to the optical circulator  420 , and from the optical circulator  420  to the receiver component  318  via the return optical fiber  408 ). The controller component  320  can cause the modulation of the optical scanner  420  between the input phase and the output phase based on one or more triggers. Such triggers include a timing of the emission of the output beam  322  by the light source component  312 , a pre-determined time, and a pre-determined time interval, to name a few. 
     The embodiment of the LiDAR system  310  of  FIG. 11  differs from that of  FIG. 9  in that instead of the transmission optical fiber  418  having a single propagation channel, the transmission optical fiber  418  has two channels for transmission of the input beam  324  and the output beam  322 . One channel of the transmission optical fiber  418  is for propagation of the output beam  322 , and the other channel of the transmission optical fiber  418  is for propagation of the input beam  324 . The cross-sectional structure of the transmission optical fiber  418  with the two channels, in certain non-limiting embodiments, is illustrated in  FIG. 12  and comprises a core  426 , an inner cladding  428 , and an outer cladding  430 . In certain embodiments, the core  426  is arranged to transmit the output beam  322 , and the inner cladding  428  is arranged to transmit the input beam  324 . The optical circulator  420  is arranged to redirect the input beam  324  coming from the scanner component  316  to the return optical fiber  408 . In an output phase, the optical circulator  420  is configured to allow light to be transmitted in a direction from the light source component  312  to the scanner component  316 . In the input phase, the optical circulator  420  is configured to transmit light from the scanner component  316  to the optical circulator  420 , and from the optical circulator  420  to the receiver component  318  via the return optical fiber  408 . 
     In other embodiments, it is contemplated that the output beam  322  and the input beam  324  may include a sub-portion that is a different path to one another. In other words, in certain embodiments, the transmission pathway  411  and the return pathway  409  do not overlap or share a common propagation axis inside the LiDAR system  310 . 
     An example implementation of such embodiments is illustrated in  FIG. 13 . The LiDAR system  310  of  FIG. 13  differs from that of  FIG. 9  in that the transmission optical fiber  418  is used for transmission of the output beam  322 , and the return optical fiber  408  is used for transmission of the input beam  324  only. There is no shared pathway between the input beam  324  and the output beam  322 . In this respect, the return optical fiber  408  is communicatively coupled at an input end to the receiver component  318 , and at an output end to the scanner component  316 . 
     The transmission optical fiber  418  and the return optical fiber  408  may have any suitable configuration. In certain embodiments, the transmission optical fiber  418  and the return optical fiber  408  each have the core  424  and the cladding  425  structure ( FIG. 14 ). 
     The embodiment of the LiDAR system  310  of  FIG. 15  differs from that of  FIG. 13  in that instead of the LiDAR system  310  comprising a single return optical fiber  408  communicatively coupled at one end to the receiver component  318 , there may be provided a plurality of return optical fibers  408  and a plurality of receiver components  318 . Each one of the plurality of return optical fibers  408  may be connected at one end to the scanner component  316 , and at their other respective end to the given receiver component  318 . The plurality of return optical fibers  408  may be configured as a fiber array ( FIGS. 16 and 17 ). The configuration of the fiber array is not limited in any way, and includes a staggered configuration as shown in  FIG. 16  and a linear configuration as shown in  FIG. 17 . In yet further embodiments, the transmission optical fiber  418  may comprise a plurality of optical fibers (not shown). The number of transmission optical fibers  418  and return optical fibers  408  are not limited and may comprise any number suitable to the given application. 
     Either of the individual transmission optical fibers  418  and the return optical fibers  408 , or the fiber array may also include an outer jacket layer  434 . 
     Turning now to the optical detector  406  of the receiver component  318 .  FIG. 18  depicts a representative implementation of the optical detector  406  executed in accordance to a specific non-limiting embodiment of the present technology. As depicted, in certain embodiments, the optical detector  4   o   6  employs a fiber optic array  450  and a plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N. The fiber optic array  450  comprises a plurality of optical fibers  454 , such as the return optical fibers  408  including the filter component  410  such as the FBG. The plurality of optical fibers  454  associated with the fiber optic array  450  may be connected to the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N to form N optical paths  456 - 1 ,  456 - 2 , . . .  456 -N from the fiber optic array  450  to the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N. 
     In certain embodiments, the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N correspond, one-to-one, to the plurality of optical fibers  454  associated with the fiber optic array  450 , and each detector in the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N may be configured to receive the input beam  324  through the fiber optic array  450 . In other words, a given optical fiber  454  of the fiber optic array  450  is associated with a given detector of the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N, in a one-to-one relationship. In these embodiments, a given optical fiber and a given detector are connected by a given optical path. 
     In the above one-to-one arrangement of the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N and the plurality of optical fibers  454 , an increased density of data points in the given ROI  380  may be achieved, and hence an increased resolution of the object  330  in the ROI  380 , as will be described below. By increased density of data points in the given ROI  380  is meant an increased number of output beams  322  incident in the ROI  380  in a given time, and subsequently an increased number of data points defined in the ROI  380  in the given time. 
     In embodiments with the one-to-one arrangement, the controller component  320  may be configured to monitor which of the optical fibers  454  of the fiber optic array  450  and its associated detector is receiving which input beam  324 . With this monitoring process, the light source component  312  may be configured to emit the output beam  322  without waiting for the detection of the prior input beam  324 , resulting, in certain embodiments, in the increased density of the data points. 
     It is contemplated that in certain other embodiments, instead of a one-to-one relationship between optical fibers  454  of the fiber optic array  450  and the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N, a subset of the plurality of optical fibers  454  associated with the fiber optic array  450  may have a common detector from the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N. In these embodiments, there would be a plurality of optical paths associated with a single detector. In such embodiments, reducing the number of detectors may also result in a cost saving. Also, in certain embodiments the common detector from the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N may require less power and space thereby, saving some physical space power requirement while implementing the LiDAR system  310 . 
     In certain embodiments, the optical detector  406  may also include an optical fiber connector  458  and a plurality of micro-lens  460 - 1 ,  460 - 2 , . . .  460 -N. The optical fiber connector  458  may be configured to connect the plurality of optical fibers  454  associated with the fiber optic array  450  to the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N to form the N optical paths  456 - 1 ,  456 - 2 , . . .  456 -N from the fiber optic array  450  to the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N. The plurality of micro-lens  460 - 1 ,  460 - 2 , . . .  460 -N may correspond, one-to-one, to the plurality of detectors  442 - 1 ,  442 - 2 , . . .  442 -N, and may be configured to converge the input beams  324  transmitted via the plurality of optical fibers  454  associated with the fiber optic array  450  to the corresponding plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N. 
     Turning now to the optical fibers  454 , it is contemplated that in certain embodiments, the plurality of optical fibers  454  may be constructed as the fiber optic array  450  in any manner, such as by laser welding, butt welding, soldering, or the like. Further, at least some of the optical fibers  454  in the fiber optic array  450  may have a polarization-maintaining axis which is oriented or aligned based on positioning of the plurality of optical fibers. As an example, the polarization-maintaining axis of the optical fibers  454  are all aligned to be substantially parallel to a single plane. As such, the polarization-maintaining axis may assist the optical fibers  454  to control and maintain certain polarizations for example linear polarization. 
     The optical fibers  454  may have any suitable configuration. In certain embodiments, at least some of the optical fibers  454  may have a circular cross-section. In certain other embodiments, at least some of the optical fibers  454  may have a cross-section which is not circular, such as a polygonal (e.g., octagon, hexagon or other suitable polygon) shape, or a curved circumference having at least one flat (e.g., a flatted side on a circular cross section), or any other shape. The optical fibers  454  may have any suitable refractive index. 
     It is contemplated that the individual optical fibers  454  in the fiber optic array  450  may be arranged in any manner such as in aligned rows, staggered rows, circular or spiral configuration, or the like. It will be appreciated that the physical characteristics of the fiber optic array  450  as well as the individual optical fibers  454  are not limited. Similarly, receiving ends of the plurality of optical fibers  454  associated with the fiber optic array  450  through which the input beam  324  is received can be arranged in any manner as a two dimensional array, such as with equal or unequal spacing. The fiber optic array  450  may have an equal or unequal number of receiving ends along an x-axis or a y-axis. 
     In certain embodiments, there is provided a receiving lens (not shown) configured to focus the input beam  324  to one of the receiving ends of the optical fibers  454  of the fiber optic array  450 . In certain embodiments, a distance between the receiving lens and one of the receiving ends of the optical fibers  454  of the fiber optic array  450  comprises a focal distance of the input beam  324 . The end face of the fiber optic array  450  may be on a focal plane of the receiving lens. Further, for a given detection time interval, the receiving lens may be configured to focus different input beams  324  to different receiving ends of the optical fibers  454  of the fiber optic array  450 . In this respect, in certain embodiments the receiving lens may be configured to move or tilt in a suitable manner such that at least one the input beams  324  may be focused on at least one of plurality of optical fibers  454 . The movement of the receiving lens may be controlled by the controller component  320 . 
     As previously discussed, in certain embodiments, the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N may be configured to detect at least an optical signal of the input beams  324  and produce a corresponding electrical signal. For example, if the input beam  324  comprises an optical pulse, the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N may detect the optical pulses and produce electrical signals such as electrical current or voltage pulses that correspond to the detected optical signals. 
     It is contemplated that the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N may be implemented as photodetectors with one or more avalanche photodiodes (APDs), one or more single-photon avalanche diodes (SPADs), one or more PN photodiodes (e.g., a photodiode structure formed by a p-type semiconductor and a n-type semiconductor), one or more PIN photodiodes (e.g., a photodiode structure formed by an undoped intrinsic semiconductor region located between p-type and n-type regions), and the like. 
     Turning now to the controller component  320 , in certain embodiments, the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N are communicatively coupled to the controller component  320 . The controller component  320  is configured to receive the electrical signals from the plurality of detectors  452 - 1 ,  452 - 2 , . . .  452 -N and may be further be configured to analyse the electrical signals to detect the object  330  in the ROI  380 . It is contemplated that the controller component  320  may use any suitable techniques (such as, techniques based on determining “Time-of-Flight” as previously discussed) for detecting objects without departing from the principles presented herein. 
     The controller component  320  may further be communicatively coupled to the light source component  312  in such a manner that the controller component  320  may be configured to control the emissions from the light source component  312 . In one embodiment, the emission of the next output beam(s) after the emission of the output beam  322  may be coordinated with detection of the input beams  324  by the optical detector  416 . As such, the controller component  320  may be configured to cause the light source component  312  to emit the output beam(s) after the input beam  324  has been detected. In other embodiments, the light source component  312  may be configured to operate independently of the optical detector  416 . That is, the light source component  312  may emit the next output beam(s) without coordinating with the detection of the input beams  324  by the optical detector  406 . 
     Computer-Implemented Methods 
     Now turning to  FIG. 15 , a flowchart of a method  600  for detecting objects in a region of interest is illustrated, in accordance with various non-limiting embodiments of the present technology. 
     In some non-limiting embodiments of the present technology, the method  600  may be implemented by the controller component  320  communicatively connected to the LiDAR system  310 . As previously discussed, in at least some non-limiting embodiments of the present technology, the controller component  320  may include one or more processors and may be implemented in a similar manner to the electronic device  210  and/or the computer system  100 , without departing from the scope of the present technology. The method  600  begins at step  602 . 
     Step  602 : Causing a Radiation Source to Emit an Output Beam Towards a Region of Interest 
     At step  602 , the controller component  320  provides instructions, a control signal, and/or a trigger signal to the light source component  312  indicating when the light source component  312  (such as the light source component) is to emit the output beam  322  towards the region of interest  380 . The output beam  322  has a pre-determined wavelength or pre-determined wavelength range. In one or more steps associated with the method  600 , the controller component  320  may be configured to cause the light source component  312  to emit the output beam  322  in certain conditions. Such conditions may include one or more of: upon operation of the vehicle  220  in self-driving mode; when the vehicle  220  is in motion irrespective of the driving mode; when the vehicle  220  is stationary; when the vehicle  220  is initially turned on; at a pre-determined time or location; and based on a manual operation performed by a user operating the vehicle  220  etc. 
     Step  604 : Capturing an Input Beam in a Return Optical Fiber of a Detection System of the LiDAR System, the Input Beam Comprising a Desired Portion Having a Wavelength Corresponding to the Pre-Determined Wavelength of the Output Beam the Return Optical Fiber, and a Noise Portion Having Wavelengths Outside of the Pre-Determined Wavelength 
     In Step  604 , the method  600  comprises capturing the input beam  324  in the return optical fiber  408  of the receiver component  318 . The input beam  324  originates from the ROI  380  and comprises a desired portion which includes reflected portions of the output beam  322  from the object  330  in the ROI  380 . The desired portion has a pre-determined wavelength or wavelength range corresponding to the pre-determined wavelength or wavelength range of the output beam. The input beam  324  also includes a noise portion having wavelengths outside of the pre-determined wavelength or wavelength range. 
     The capturing may also comprise directing the input beam  324  towards the return optical fiber  408 , and/or focusing the input beam on the return optical fiber  408 . In this respect, the method may also include the processor actuating movement of an end of the return optical fiber, or actuating movement of an optical component. 
     Step  606 : Separating the Desired Portion of the Input Beam from the Noise Portion 
     In Step  606 , the method  600  comprises separating the desired portion of the input beam  324  from the noise portion of the input beam  324 . In certain embodiments, the separating comprises filtering the input beam  324 , such as with the filter component  410 . In certain embodiments, the filter component  410  comprises the Fiber Bragg Grating formed in the return optical fiber  408 . 
     In certain embodiments, the separating the desired portion of the input beam  324  from the noise portion of the input beam  324  comprises reflecting the desired portion of the input beam  324  to the optical detector  406 , and transmitting the noise portion along an optical pathway of the return optical fiber  408 . 
     In certain other embodiments, the separating the desired portion of the input beam  324  from the noise portion of the input beam  324  comprises transmitting the desired portion of the input beam  324  along an optical pathway of the return optical fiber  408 , and reflecting the noise portion. 
     Step  608 : Detecting the Desired Portion of the Input Beam by a Detector, the Detector Comprising a Single Broadband Detector. 
     In Step  608 , the method  600  comprises detecting the desired portion of the input beam  324  by the optical detector  406 , which in certain embodiments is a single broadband detector. 
     In embodiments where the optical detector  416  is a fiber optic array  432 , the method  600  comprises determining an association between a given detector of the plurality of detectors  452 , the detected optical signal and a given output beam  322 . In certain embodiments in which the LiDAR system  310  includes the optical circulator  420 , the method  600  comprises causing the input beam  324  to be re-directed towards the receiver component  318 . 
     In one or more non-limiting steps associated with the method  600 , in order to determine the object  330  in the ROI  380 , the controller component  320  may be configured to determine a “time-of-flight” value for a light beam based on timing information associated with (i) when a given light beam (e.g. the output beam  322 ) was emitted by light source component  312 , and (ii) when the desired portion of the input beam  324  was detected by the optical detector  406 . 
     In one or more non-limiting steps associated with the method  600 , the processor may control the emission of a next output beam  322  after the emission of an earlier output beam  322  and such emission may be coordinated with detection of the input beam by the optical detector  416 . As such, the controller component  320  may be configured to cause the light source component  312  to emit the output beam  322  after the input beam  324  has been detected. 
     In one or more non-limiting steps associated with the method  600 , the light source component  312  may be configured to operate independently of the optical detector  416 . That is, the light source component  312  may emit the output beam  322  without coordinating with the detection of the input beam  324  detected by the optical detector  416 . 
     It should be apparent to those skilled in the art that at least some embodiments of the present technology aim to expand a range of technical solutions for addressing a particular technical problem, namely improving performance of a LiDAR system while reducing the hardware burden imposed on various LiDAR systems by incorporating MEM components and modulating the amplitude of oscillations associated with the MEM components for selectively controlling the intervals of the output beam(s). 
     Modifications and improvements to the above-described implementations of the present technology may become apparent to those skilled in the art. The foregoing description is intended to be exemplary rather than limiting. The scope of the present technology is therefore intended to be limited solely by the scope of the appended claims. 
     While the above-described implementations have been described and shown with reference to particular steps performed in a particular order, it will be understood that these steps may be combined, sub-divided, or re-ordered without departing from the teachings of the present technology. Accordingly, the order and grouping of the steps is not a limitation of the present technology.