Cascaded-prism multi-mode beam scanning method for three-dimensional imaging lidar

Light detection and ranging (lidar) has emerged as an indispensable approach to three-dimensional (3D) perception, which probably suffers from performance limitations with traditional beam steering devices. In this paper, we investigate a cascaded-prism beam scanning method to enhance the versatility of 3D imaging lidar systems. The cascaded-prism-based 3D lidar architecture is theoretically developed with an emphasis on a rigorous beam scan model. By exploiting the additional flexibility of cascaded prisms, the lidar can achieve beam scanning through prism rotation in either step-motion or constant-speed mode, which exhibits superior agility and adaptability in multi-mode pattern analysis. Moreover, the cascaded-prism beam scanning lidar is demonstrated with a 3D imaging performance evaluation in terms of field of view, angular resolution and sampling density. It proves that the cascaded-prism beam scanner can offer lidar systems with flexible and configurable 3D imaging capability while balancing between a wide field of view and high angular resolution.