Patent ID: 11675077

Abstract:
Systems/methods for operating a LiDAR system. The methods comprise: receiving a waveform representing light which was reflected off of a surface of an object; generating timestamp values for photon detection events triggered by pulses in the waveform; generating a count histogram of the timestamp values; inferring a trials histogram from the count histogram (the trials histogram representing a number of times a photodetector of the LiDAR system was available during reception of the waveform); generating an estimated range distance from the LiDAR system to the at least one object and an estimated intensity value for a given pulse of the waveform, based on results from analyzing the count histogram and the trials histogram; determining a position using the estimated range distance from the LiDAR system to the at least one object; and producing a LiDAR dataset comprising a data point defined by the position and the estimated intensity value.