Patent attributes
In one embodiment, a lidar system includes a light source configured to emit optical pulses using multiple pulse intervals (PIs) that include a first PI and a second PI, where the first PI and the second PI are not equal. The lidar system also includes a receiver configured to detect multiple input optical pulses. The lidar system further includes a processor configured to generate multiple pixels, where each pixel of the multiple pixels corresponds to one of the multiple input optical pulses and is associated with one of the PIs. The processor is further configured to (i) determine, for a particular pixel of the multiple pixels, a group of nearby pixels and (ii) determine whether the particular pixel is range-wrapped based at least in part on the PI associated with each pixel of the group of nearby pixels.
