FIELD

[0001] The present disclosure relates generally to light detection and ranging systems.

BACKGROUND

[0002] Light detection and ranging (LIDAR) systems can he used to scan target areas within an environment. For instance, LIDAR systems can estimate distance to environmental features while scanning through a scene to generate a "point cloud" indicative of reflective surfaces in the target area. Individual points in the point cloud can be determined by transmitting a laser pulse and detecting a returning pulse, if any, reflected from an object in the target area, and determining the distance to the object according to the time delay between the transmitted pulse and the reception of the reflected pulse. A laser, or set of lasers, can be rapidly and repeatedly scanned across a scene to provide continuous real-time information on distances to reflective objects in the scene. Combining the measured distances and the orientation of the laser(s) while measuring each distance allows for associating a three- dimensional position with each returning pulse. In this way, a three-dimensional

representation of points indicative of locations of reflective features in the target area can be generated for the entire scanning zone.

[0003] LIDAR systems can be implemented on vehicles, such as aerial vehicles, and can be configured to scan target areas on the earth. Such LIDAR systems may provide a circular sweep scanning pattern that scans within a 360 degree range of motion. For instance, such LIDAR systems can be configured to rotate within the 360 degree range of motion about an axis substantially in the direction of travel of the aerial vehicle to provide the scan. However, such scans can be inefficient and can waste resources. For instance, for applications that are interested in scanning points on the surface of the earth, scanning within a 360 degree range of motion about an axis in the direction of travel can provide a scan to areas that are not of interest (e.g. the sky). Oscillating LIDAR systems exist for aerial scanning platforms.

However, such oscillating LIDAR sy stems produce "zigzag" scans that may not provide full coverage of the area of interest. SUMMARY

[0004] Aspects and advantages of embodiments of the present disclosure will be set forth in part in the following description, or may be learned from the description, or may be learned through practice of the embodiments.

[0005] One example aspect of the present disclosure is directed to a light detection and ranging (LIDAR) system. The LIDAR system includes one or more light sources configured to emit a plurality of light beams within a wavelength range. The LIDAR system further includes a variable optical element configured to direct the plurality of light beams in a first conical scanning pattern in a direction of a target. The first conical scanning pattern corresponds to a first field of view. The variable optical element includes a reflective material disposed between a fixed end component and a variable end component. The LIDAR system further includes one or more control devices configured to cause an actuation of the variable end component to adjust an angular position of one or more surfaces of the variable optical element,

[0006] Another example aspect of the present disclosure is directed to a system including a scanning platform and a light detection and ranging (LIDAR) system coupled to the scanning platform. The LIDAR system includes a variable optical element comprising a reflective material disposed between a fixed end component and a variable end component. The variable optical element is configured to direct light emitted by the LIDAR system in a conical pattern at one or more target areas. The LIDAR system further includes one or more control devices comprising one or more processors, and one or more memory devices, the one or more memory devices storing computer-readable instructions that when executed by the one or more processors cause the one or more processors to perform operations. The operations include generating a first 3D representation of a first target area based at least in part on data indicative of first reflected light collected by the LIDAR system. The first reflected light is associated with a first conical scan of the LIDAR system. The operations further include identifying an object of interest in the first target area based at least in part on the first 3D representation. The operations further include determining an adjusted configuration of the variable optical element. The adjusted configuration corresponds to an adjusted conical scan pattern associated with an adjusted target area. The operations further include generating a second 3D representation based at least in part on second data indicative of second reflected light collected by the LIDAR system. The second reflected light is associated with the second conical scan of the LTDAR system. , [0007] Yet another example aspect of the present disclosure is directed to a computer- implemented method of operating a light detection and ranging (LIDAR) system. The method includes receiving, by one or more computing devices, data indicative of first reflected light from one or more surfaces of a first target area. The first reflected light is collected by a LIDAR system coupled to an aerial vehicle. The LIDAR system is configured to transmit light beams within a wavelength range in a first conical scan pattern toward the first target area of the earth. The method further includes generating, by the one or more computing devices, a first 3D representation of a first target area based at least in part on data indicative of the first reflected light collected by the LIDAR system. The method further includes identifying, by the one or more computing devices, an object of interest in the first target area based at least in part on the first 3D representation. The method further includes determining, by the one or more computing devices, an adjusted configuration of the LIDAR system. The adjusted configuration corresponds to an adjusted conical scan pattern associated with an adjusted target area of the earth. The method further includes receiving, by the one or more computing devices, data indicative of second reflected light from one or more surfaces of the adjusted target area. The method further includes generating, by the one or more computing devices, a second 3D representation based at least in part on second data indicative of second refl ected light.

[0008] Other example aspects of the present disclosure are directed to systems, apparatus, tangible, non-transitory computer-readable media, user interfaces, memory devices, and electronic devices for providing conical LIDAR scans.

[0009] These and other features, aspects and advantages of vari ous embodiments will become better understood with reference to the following description and appended claims. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the related principles.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Detailed discussion of embodiments directed to one of ordinary skill in the art are set forth in the specification, which makes reference to the appended figures, in which:

[001 1] FIG. 1 depicts an example system for providing conical LIDAR scans according to example embodiments of the present disclosure; [0012] FIG. 2 depicts an example system for providing conical LIDAR scans according to example embodiments of the present disclosure;

[0013] FIG. 3 depicts an example LIDAR system according to example embodiments of the present disclosure;

[0014] FIG. 4 depicts a flow diagram of an example method of providing conical LIDAR scans according to example embodiments of the present disclosure; and

[0015] FIG. 5 depicts a flow diagram of determining information associated with one or more target areas according to example embodiments of the present disclosure.

DETAILED DESCRIPTION

[00 6] Reference now will be made in detail to embodiments, one or more examples of which are illustrated in the drawings. Each example is provided by way of explanation of the embodiments, not limitation of the present disclosure. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments without departing from the scope or spirit of the present disclosure. For instance, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that aspects of the present disclosure cover such modifications and variations.

[0017] Example aspects of the present disclosure are directed to light detection and ranging (LIDAR) systems configured to transmit a plurality of light beams in a conical scanning pattern. For instance, example aspects of the present disclosure provide a LIDAR system in which it is possible to control the direction(s) in which the light beams are scanned, and in which the light beams can be directed towards specific targets of interest. By controlling the direction in which the beams are scanned, it is possible to reduce the time spent scanning in directions in which there are fewer features of interest, in turn ensuring that a greater proportion of the data obtained from the system relates to features of interest.

[0018] A LIDAR system can be coupled to a scanning platform, such as a vehicle or other scanning platform. The LIDAR system can be configured to transmit light beams within a wavelength range at one or more targets or target areas. The LIDAR system can include one or more light sources configured to emit a plurality of light beams. In some implementations, the light source(s) can be lasers, such as fiber lasers, configured to emit laser light. The light source(s) can provide the light beams to a variable optical element, for instance, via an optical assembly including one or more optical elements (e.g. mirrors, lenses, etc.), motors, springs, magnets, and/or other suitable components for steering light beams. In this manner, the light source(s) can direct the light beams at the optical assembly, which can, in turn, direct at least a portion of the light beams to the variable optical element. The variable optical element can be arranged to direct the light beams in a direction of a target. In particular, the variable optical element can be arranged to direct the light beams in the direction of the target in a conical scanning pattern.

[0019] In some implementations, the optical assembly can include a rotating mirror configured to direct the at least a portion of the light beams to the variable optical element. The rotating mirror can be configured to rotate within a 360 degree range of motion about a first axis. For instance, the first axis can be substantially in the direction of travel of the aerial vehicle. The rotating mirror can be positioned at about 45 degrees relative to the first axis. As used herein, the term "about," when used in conjunction with a numeric reference, is intended to refer to within 40% of the numeric reference. In some implementations, the rotating mirror can be mounted with a rotational bearing configured to allow the rotating mirror to rotate about a first axis. In this manner, the rotating mirror can be coupled to a rotational motor, which can cause the rotating mirror to rotate about the first axis. In some implementations, the rotational motor can be mounted to or otherwise coupled to the LIDAR system, such that rotation of the rotational motor can cause the entire LIDAR system to rotate about the first axis.

[0020] The variable optical element can be a reflective element, and can be configured to direct the light beams received, for instance, from the rotating mirror, in a conical scanning pattern in a direction of the target. In some implementations, the LID AR system can be configured to adjust an angular position of one or more surfaces of the variable optical element. The angular position of the one or more surfaces of the variable optical element can be adjusted to steer or adjust the light beams transmitted by the LIDAR system. For instance, the angular position of the one or more surfaces of the variable optical element can be adjusted to steer the conical scanning pattern of the LIDAR sy stem in one or more desired directions and/or to adjust a field of view of the LIDAR system by adjusting the opening angle of the conical scan pattern.

[0021] In some implementations, the variable optical element can include a reflective material disposed between a fixed end component and a variable end component. The reflective material can be any suitable flexible and/or stretchable material capable of being disposed between the two end components, and capable of suitably reflecting light beams within the wavelength range. The fixed and variable end components can be circular in shape. In some implementations, the fixed and variable end components can be toroids, disks, rings, hoops, annuli, or other suitable circular, oval, or oblong shaped structure. The end components can act as a frame for the variable optical element. In some

implementations, the reflective material can be attached or affixed to the fixed and variable end components.

[0022] The fixed end component can have a fixed radius, while the variable end component can have a variable radius. The variable end component can be adjusted between a minimum radius and a maximum radius. In some implementations, the adjustment can be performed by actuating a thread acting as a core of the variable end component, thereby causing the variable end component to iris between the minimum radius and the maximum radius. Adjusting the radius of the variable end component can cause a change in the angular positions of the one or more surfaces of the variable optical element. The variable optical element can be arranged such that, a change in the angular positions of the one or more surfaces of the variable optical element can cause an adjustment in the conical scan pattern of the LIDAR system.

[0023] It will be appreciated that various other suitable variable optical elements can be used without deviating from the scope of the present disclosure. For instance, the variable optical element can be a conical mirror arranged with respect to the LIDAR system to provide a conical scan pattern. In some implementations, the rotating mirror can be arranged to provide a conical scan pattern without the use of a separate variable optical element. For instance, the rotating mirror can be arranged at one or more angles relative to the first axis to reflect the light beams in the conical scan pattern. In such implementations, the rotating mirror can interact with an actuator (e.g. magnetic actuator, hydraulic actuator, etc.) configured to adjust an attitude of the rotating mirror to facilitate the conical scan pattern. In some implementations, the entire LIDAR system can be mounted on or otherwise associated with one or more gimbals and/or actuators arranged to steer or direct the conical scan pattern.

[0024] The LIDAR system can include one or more detectors configured to receive light beams within the wavelength range reflected from the target. For instance, the transmitted light beams can interact with one or more objects, surfaces, etc. associated with the target. At least a portion of the transmitted light beams can be refl ected back towards the LIDAR system as reflected light. The reflected light can interact with one or more components of the optical assembly, and can be directed by the optical assembly to the one or more detectors. For instance, in some implementations, the reflected light can interact with the rotating mirror such that the rotating mirror directs the light towards one or more lenses configured to focus, collimate, or otherwise modify the reflected light such that the reflected light interacts with the one or more detectors. It will be appreciated that various optical paths can be used to direct the reflected light to the one or more detectors.

[0025] The reflected light collected by the one or more detectors can be used to generate a three-dimensional (3D) representation of the target. For instance, the 3D representation can be a point cloud of a scene associated with the target. The point cloud can provide information associated with one or more reflected surfaces in the fi eld of view (e.g. as defined by on the conical scan pattern) of the LIDAR system. For instance, each point of the 3D point cloud may be associated with a reflected light pulse from the reflected light beams. One or more objects of interest can then be identified within the point cloud. An object of interest can be any suitable object within the field of view of the LIDAR system. For instance, the object of interest can be a pedestrian, road sign, utility pole, business, restaurant, landmark, light post, cell tower, and/or other suitable object. The object of interest can be identified from the point cloud using various suitable object identification techniques,

[0026] In some implementations, upon an identification of an object of interest, the LIDAR system can direct the transmitted light beams in a direction of the object of interest. For instance, the LIDAR system can determine an adjusted target at or near the object of interest, and can direct the transmitted light beams in a direction of the adjusted target. In this manner, the conical scan pattern can be steered in the direction of the adjusted target. In some implementations, the conical scan pattern can be adjusted to narrow the field of view of the LIDAR system. For instance, the field of view of the LIDAR system can be narrowed by decreasing an opening angle of the scan. As indicated above, in some implementations, the conical scan pattern can be steered and/or adjusted by adjusting the radius of the variable end component, thereby adjusting the angular position of the one or more surfaces of the variable optical element.

[0027] A second 3D representation (e.g. point cloud) can then be determined based at least in part on the reflected light from the adjusted target. The second point cloud can have a higher resolution than the first point cloud, due at least in part on the narrower field of view associated with the adjusted conical scan pattern. For instance, the points in the second point cloud can be closer together relative to the points in the first point cloud. Such higher resolution can allow for a more accurate and/or easier identification of objects of interest relative to the first point cloud.

[0028] With reference now to the figures, example aspects of the present disclosure will be discussed in greater detail. For instance, FIG. I depicts an example system 100 according to example embodiments of the present disclosure. System 100 includes a LIDAR system 102 connected to a scanning platform 104. As shown, scanning platform 104 is an airplane. It will be appreciated that the scanning platform 104 can be any suitable scanning platform configured to be coupled to a LIDAR system. For instance, the scanning platform 104 can be various other suitable vehicles, such as an air-based vehicle (e.g. helicopter, satellite, unmanned aerial vehicle), ground-based vehicle, water-based vehicle, and/or other suitable vehicle. In some implementations, the scanning platform can be a stationary device or system.

[0029] LIDAR system 102 can be any suitable LIDAR system. In some

implementations, the LIDAR system 102 can be configured to emit light beams within a wavelength range in a conical scan pattern. For instance, the LIDAR system 102 can be similar to, or the same as, LIDAR system 124 described below with respect to FIG. 2.

LIDAR system 102 can be configured to transmit light in a conical scan pattern 106 in a direction of a target 108. The target can be any suitable object, area, region, etc. having one or more surfaces. For instance, the target 108 can be one or more areas of the earth.

[0030] The conical scan 106 can correspond to a field of view of the LIDAR system 102. In this manner, the field of view of the LIDAR system 102 can correspond to an area that is "seen" by the conical scan 106. The conical scan 106 can be defined by an opening angle 110. The opening angle 110 can be proportional to a field of view radius 1 12 of the conical scan pattern 106. The field of view radius 112 can correspond to a radius of an area associated with the target 108 that is "seen" by the LIDAR system 102, As indicated, the scan 106 can be adjusted according to example aspects of the present disclosure. For instance, the LIDAR system 102 can steer or direct the scan 106 to one or more desired areas associated with the target 108. The LIDAR system can further adjust the scan 106 by adjusting the field of view radius 1 12 of the scan 106. In this manner, the LIDAR system 102 can adjust an angular position of one or more surfaces of a variable optical element associated with the LIDAR system 102,

[0031 ] FIG. 2 depicts an example system 120 for providing a conical LIDAR scan according to example embodiments of the present disclosure. The system 120 includes a scanning platform 122. Scanning platform 122 can correspond to scanning platform 102 or other suitable scanning platform. A LIDAR system 124 can be connected to, attached to, affixed to, mounted to, or otherwise associated with the scanning platform 122. The LIDAR system 124 can include one or more light sources 126, an optical assembly 128, one or more detectors 130, and a lens 132. In some implementations one or more of the one or more light sources 126, optical assembly 128, one or more detectors 130, and lens 132 can be disposed within a housing (not shown). The housing can be any suitable housing. In some

implementations, the LIDAR system 124 can be coupled to one or more actuators and/or gimbals. For instance, the actuators and/or gimbals can be configured to facilitate a steering of the LIDAR scan according to example embodiments of the present disclosure.

[0032] The one or more light sources 126 can be, for instance, laser diodes, fiber lasers, and/or other suitable light sources. In some implementations, the light sources 126 can emit light beams within the near infrared spectrum (e.g. between about 700nm and about 1400nm). It will be appreciated that various other light wavelengths can be used. For instance, in some implementations, the light sources 126 can be configured to emit light beams having a wavelength of 1550 ran. The light sources 126 can emit light within a wavelength range toward the optical assembly 128. The optical assembly 128 can be configured to direct the light emitted by the light sources 126 to a variable optical element 134. The optical assembly 128 can include one or more mirrors, springs, actuators, lenses, and/or other suitable components for directing the emitted light to the variable optical element 134. For instance, the optical assembly 128 can include a rotating mirror configured to rotate about a first axis. The first axis can be substantially in the direction of travel of the scanning platform 122. In this manner, the first axis can be approximately a horizontal axis. The rotating mirror can be coupled to a rotational motor configured to rotate the rotating mirror within a 360 degree range of motion about the first axis. In some implementations, the rotational motor can be configured to rotate within a smaller angle range.

[0033] As indicated, the LIDAR system 124 can include the variable optical element 134. The variable optical element 134 can be arranged with respect to the LIDAR system 124 to provide a conical scan pattern (e.g. conical scan 106 depicted in FIG. 1). For instance, the variable optical element 134 can be arranged with respect to the rotating mirror, such that light reflected by the rotating mirror can in turn be reflected by the variable optical element 134 in a direction of a target. As indicated, the light reflected by the variable optical element 134 can form a conical pattern. In some implementations, the variable optical element 134 can be implemented within the LIDAR housing. In some implementations, the variable optical element 134 can be positioned outside of the housing.

[0034] The variable optical element 134 can be any suitable optical element capable of facilitating a conical scan pattern. For instance, in some implementations, the variable optical element 134 can be a conical mirror. In some implementations, the variable optical element 134 can include a flexible, reflective material disposed between two end components, as will be described in greater detail with respect to FIG. 3. In particular, the reflective material can be disposed between a fixed end component and a variable end component. The end components can be circular shaped structures, such as toroids, disks, rings, hoops, annuli, or other suitable circular shaped staicture. The variable end component can be actuated causing an inner radius of the variable end component to increase or decrease. For instance, the variable end component can be actuated by a suitable actuator configured to pull or push a thread acting as the core of the variable end component. The reflective material can be positioned with respect to the variable end component, such that when the variable end component is actuated, an angular position of one or more surfaces of the reflective material is changed. The angular position of the one or more surfaces can in turn dictate an opening angle of the conical scan. In this manner, the variable end component can be actuated to control the field of view radius of the conical scan, and thereby the fi eld of view of the LIDAR system 124.

[0035] In this manner, the light emitted by the light sources 126 can be directed to the optical assembly 128 (e.g. rotating mirror), and to the variable optical element 134. The light can further be directed to the lens 132. The lens 132 can be mounted to or otherwise affixed to one or more surfaces of the housing. The lens 132 can be configured to collimate the emitted light, such that the emitted light can be transmitted to the target area as coliimated light. In some implementations, the lens 132 can further be configured to focus the emitted light. The lens 132 can be further configured to focus light (e.g. light within the wavelength range) reflected by one or more surfaces of the target area onto the one or more detectors 130. In some implementations the lens 132 can be configured to collimate the emitted light, and one or more separate lenses can be configured to focus the reflected light to the detectors 130. The detectors 130 can be photodiodes, avalanche photodiodes, phototransistors, cameras, active pixel sensors (APS), charge coupled devices (CCD), cryogenic detectors, and/or any other sensor of light configured to receive focused light having wavelengths in the

wavelength range of the emitted light beams. In this manner, the detectors 130 can be arranged with respect to the lens 132 and/or the optical assembly 128, such that light received and focused by the lens 132 is directed to the detectors 130.

[0036] The LIDAR system 124 and/or scanning platform 122 can further include a positioning system that can be used to identify the position of the scanning platform 122 and/or the LIDAR system 124. The positioning system can be any device or circuitry for monitoring the position of the scanning platform 122 and/or the LIDAR system 124. For example, the positioning device can determine actual or relative position by using a satellite navigation positioning system (e.g., a GPS system, a Galileo positioning system, the GLObal Navigation satellite system (GLONASS), the BeiDou Satellite Navigation and Positioning system), an inertial navigation system, a dead reckoning system, based on IP address, by using triangulation and/or proximity to cellular towers or WiFi hotspots, and/or other suitable techniques for determining position.

[0037] The LIDAR system 124 can be communicatively coupled to one or more control devices 136. The one or more control devices 136 can be configured to generate 3D representations associated with the target area based at least in part on the light received by the detectors 130, The one or more control devices 136 can further be configured to adjust the scan pattern of the LIDAR system 124 based at least in part on the 3D representations. In some implementations, the control devices 136 can be implemented within the LIDAR system 124 and/or the scanning platform 122. In some implementations, the control devices 136 can be remote from the scanning platform 122 and the LIDAR system 124, and can communicated with the scanning platform 122 and/or the LIDAR system 124 via a suitable network.

[0038] The control devices 136 include one or more processors 138 and one or more memory devices 140. The control devices 136 can further include a network interface used to communicate with one or more remote computing devices. The network interface can include any suitable components for interfacing with one more networks, including for example, transmitters, receivers, ports, controllers, antennas, or other suitable components.

[0039] The one or more processors 138 can include any suitable processing device, such as a microprocessor, microcontroller, integrated circuit, logic device, or other suitable processing device. The one or more memory devices 140 can include one or more computer- readable media, including, but not limited to, non-transitory computer-readable media, R AM , ROM, hard drives, flash drives, or other memory devices. The one or more memory devices 140 can store information accessible by the one or more processors 138, including computer- readable instructions that can be executed by the one or more processors 138. The instructions can be any set of instructions that when executed by the one or more processors 138, cause the one or more processors 138 to perform operations. For instance, the instructions can be executed by the one or more processors 138 to implement example aspects of the present disclosure.

[0040] The one or more memory devices 140 can also store data 142 that can be retrieved, manipulated, created, or stored by the one or more processors 138. The data 142 can include, for instance, data indicative of reflected light, 3D representation data, and other data. The data 142 can be stored in one or more databases. The one or more databases can be connected to the server 710 by a high bandwidth LAN or WAN, or can also be connected to server 710 through network 740, The one or more databases can be split up so that they are located in multiple locales.

[0041] As indicated, the control devices 136 can be configured to generate 3D

representations based at least in part on the reflected light received by the detectors 130. The 3D representations can be point clouds specifying information associated with one or more objects and/or surfaces of the target area (e.g. the area within the field of view of the LIDAR system 124). The control devices 136 can further be configured to detect or identify one or more objects of interest within the target area based at least in part on the 3D representations. For instance, the control devices 136 can receive data indicative of first light received by the detectors 130, and can generate a first point cloud based at least in part on the first light. In particular, the first light can be light within the wavelength range reflected by one or more surfaces and received by the detectors 130. The first light can be associated with light emitted by the LIDAR system 124 during a first scan associated with the LIDAR system 124. The control devices 136 can detect one or more objects of interest represented within the first point cloud using one or more suitable identification or detection techniques,

[0042] Upon detection of an object of interest, the control devices 136 can be configured to determine an adjusted conical scan pattern. For instance, the adjusted conical scan pattern can have an adjusted position and/or an adjusted field of view relative to the initial scan pattern. For instance, the control devices 136 can determine a location of the object of interest, and can cause the scan to be steered in a direction of the object of interest. The control devices 136 can further narrow the fi eld of view associated with the scan. In this manner, the control devices 136 can cause the LIDAR scan to be directed to the object of interest and/or for the scan to be narrowed to focus on the object of interest. [0043] In some implementations, LIDAR system 124 can be coupled to one or more gimbals and/or actuators. The control devices 136 may provide one or more control commands to the gimbals and/or actuators to cause the gimbals and/or actuators direct the scan to the object of interest. For instance, the control devices 136 can determine a locati on to which the scan is to be steered, and can control the gimbals and/or actuators to steer the scan to the determined location. The control devices 136 can narrow the field of view associated with the scan by providing one or more control commands to one or more actuators associated with the variable end component of the variable optical element 134. In this manner, the control devices 136 can determine an adjusted configuration of the variable optical element 134 based at least in part on the detected object of interest. The adjusted configuration can specify angular positions of one or more surfaces of the reflective material of the variable optical element 134. The control devices 136 can then control the actuator associated with the variable end component to actuate the variable end component such that the variable optical element 134 is arranged in accordance with the determined configuration, [0044] In some implementations, the control devices 136 can generate a second 3D representation based at least in part on second light received by the detectors 130. For instance, light reflected by one or more surfaces "seen" by the adjusted scan (e.g. second light) can be received by the detectors 130, and data i ndi cati ve of the second light can be provided to the control devices 136. In this manner, the second light can be associated with light emitted by the LIDAR system 124 during the adjusted scan. The control devices 136 can generate a second point cloud based at least in part on the second light. The second point cloud can have a higher resolution than the first point cloud, due at least in part to the narrower field of view of the adjusted conical scan.

[0045] The second point cloud can be used to determine further information associated with the target area. For instance, the control devices 136 can be configured to verify the identification of the object of interest using the second point cloud. In some

implementations, the control devices 136 can be configured to identify one or more additional objects of interest represented in the second point cloud.

[0046] FIG. 3 depicts an example LIDAR system 200 according to example embodiments of the present disclosure. LIDAR system 200 includes a scanning portion 202, and a base 204. The scanning portion 202 can be configured to direct emitted light 218 generated by one or more light sources associated with the LIDAR system 200, For instance, the emitted light 218 can be directed through an aperture 206 by a rotating mirror implemented within the scanning portion 202. In some implementations, the scanning portion 202 can be configured to rotate about an axis of rotation 214. In such implementations, the rotating mirror can be coupled to the rotating scanning portion 202, such that a rotation of the scanning portion 202 about the axis of rotation 214 causes a rotation of the rotating mirror about the axis of rotation 214. In some implementations, the scanning portion 202 can remain substantially fixed relative to the axis of rotation 214, and the rotating mirror can be configured to rotate about the axis of rotation 214 within the (non-rotating) scanning portion 202. As indicated, the axis of rotation 214 can be substantially in the direction of travel of a scanning platform (e.g. vehicle) to which the LIDAR system 200 is attached or otherwise coupled.

[0047] The scanning portion 202 can be configured to direct the emitted light 218 at a variable optical element 212 surrounding at least a portion of the scanning portion 202. In particular, the variable optical element can be disposed relative to the scanning portion such that light 218 directed by the scanning portion 202 is redirected in a conical scan pattern by the variable optical element 212, As indicated, the variable optical element 212 can include a flexible, reflective material 216 disposed between a variable end component 208 and a fixed end component 210. The variable end component 208 and fixed end component 210 can be attached to the flexible material 216, and can be arranged to form at least a portion of a variable conical mirror. The variable end component 208 and the fixed end component 210 can be toroids, disks, rings, hoops, annuii, or other suitable circular, oval, or oblong shaped stmcture. In this manner, the variable end component 208 and the fixed end component 210 can be any suitable structure, such that when the reflective material 216 is disposed between the variable end component 208 and the fixed end component 210, the variable optical element is configured to redirect light 218 in a desired scan pattern,

[0048] As indicated, the variable end component 208 can be adjusted to change an angular position of a surface of the reflective material 216 to direct the light 218 in a desired manner. In particular, the variable end component 208 can be adjusted to adjust a radius of the variable end component 208, For instance, the variable end component 208 can be adjusted by actuating a thread or other suitable component acting as a core of the variable end component 208, thereby causing the variable end component 208 to iris such that the radius of the variable end component is adjusted.

[0049] It will be appreciated that the LIDAR system 200 can include various suitable optical elements to direct light 218 in a desired manner (e.g. in a conical scan pattern in a direction of a target area). For instance, in alternative implementations, the LIDAR system can include a fixed conical mirror instead of the variable optical element 212 arranged with respect to the scanning portion 202 to redirect light 218 in a conical pattern. In other alternative implementations, the LIDAR system can include one or more tilting mirrors configured to rotate on one or more axes. The tilting mirror(s) can be arranged with respect to the scanning portion 202 to redirect light in a conical pattern. It will be appreciated that such various suitable optical elements can be located within the scanning portion 202 and/or external to the scanning portion 202.

[0050] FIG. 4 depicts a flow diagram of an example method (300) of providing a LIDAR scan according to example embodiments of the present disclosure. The method (300) can be implemented by one or more computing devices, such as one or more of the computing devices depicted in FIG. 2. In addition, FIG. 4 depicts steps performed in a particular order for purposes of illustration and discussion. Those of ordinary skill in the art, using the disclosures provided herein, will understand that the steps of any of the methods discussed herein can be adapted, rearranged, expanded, omitted, or modified in various ways without deviating from the scope of the present disclosure.

[005 ] At (302), method (300) can include determining a first configuration of a variable optical element associated with a LIDAR system. The LIDAR system can be any suitable LIDAR system configured to transmit and receive light within a wavelength range. For instance, the LIDAR system can be similar to, or the same as, LIDAR system 124 depicted in FIG. 2 and/or LIDAR system 200 depicted in FIG. 3. The fi rst configuration of the variable optical element can correspond to a first conical scan pattern. The first conical scan pattern can correspond to a first field of view of the LIDAR system. In this manner, the first conical scan pattern can have a first opening angle and a first field of view radius,

[0052] The first configuration of the variable optical element can specify an angular position of one or surfaces of the variable optical element. In some implementations, the variable optical element can be a conical mirror. In some implementations, the variable optical element can include a flexible, reflective material disposed between a fixed end component and a variable end component, as described with respect to FIGS. 2 and 3. In this manner, the first configuration of the variable optical element can be effectuated by actuating the variable end component to adjust an inner radius of the variable end component. The reflective material can be arranged with respect to the variable end component and the fixed end component such that an actuation of the variable end component causes a change in an angular position of one or more surfaces of the reflective material. [0053] At (304), method (300) can include causing a rotating mirror of the LIDAR system to rotate about a first axis. The rotating mirror can be included within an optical assembly of the LIDAR system. The optical assembly can be configured to direct light emitted by the LIDAR system on a suitable optical path. As indicated, the first axis can be a substantially horizontal axis. In some implementations, the first axis can be substantially in the direction of travel of a scanning platform coupled to the LIDAR system. It will be appreciated that the first axis can be any suitable axis.

[0054] At (306), method (300) can include causing one or more light sources of the LIDAR system to emit light within a wavelength range in a direction of the variable optical element via the rotating mirror. For instance, the light sources can be configured to direct light toward the optical assembly of the LIDAR system (e.g. the rotating mirror). The variable optical element can be arranged such that at least a portion of light reflected by the rotating mirror is directed to the variable optical element. The variable optical element can further be arranged such that at least a portion of light reflected by the variable optical element substantially forms the first conical scanning pattern, and is directed toward the target area. In this manner, the LIDAR system can be operated to scan the target area using the first conical scan.

[0055] At (308), method (300) can include receiving first data indicative of first reflected light (e.g. light within the wavelength range) collected by one or more detectors of the LIDAR system. For instance, light transmitted by the LIDAR system can be reflected by one or more surfaces, objects, etc. within the first field of view of the LIDAR system. At least a portion of the reflected light can be directed back toward the LIDAR system. Such at least a portion of reflected light can be focused and/or directed (e.g. by a lens and/or the optical assembly) to the one or more detectors, which can collect the directed light.

[0056] FIG. 5 depicts a flow diagram of an example method (400) of determining information associated with a LIDAR scan according to example embodiments of the present disclosure. In some implementations, the method (400) can be a continuation of the method (300) depicted in FIG. 4. The method (400) can be implemented by one or more computing devices, such as one or more of the computing devices depicted in FIG. 2. In addition, FIG. 4 depicts steps performed in a particular order for purposes of illustration and discussion.

[0057] At (402), method (400) can include generating a first 3D representation (e.g. point cloud) of the target area based at least in part on first data indicative of first reflected light collected by one or more detectors of a LIDAR system. For instance, the first data can be data described with regard to (308) of method (300). The LIDAR system can be similar to, or the same as, the LIDAR systems 124 and 200 depicted in FIGS. 2 and 3, respectively. The 3D representation can provide information associated with one or more surfaces or object of the target area scanned by the LIDAR system using a first conical scan pattern. The first conical scan pattern can correspond to a first configuration of a variable optical element associated with the LIDAR system. As indicated above, the variable optical element can be dynamically arranged to facilitate the first conical scan pattern. In this manner, the 3D representation can be determined based at least in part on light reflected by one or more surfaces or objects within the target area "seen" by the first conical scan pattern,

[0058] At (404), method (400) can include identifying one or more objects of interest in the target area based at least in part on the 3D representation. An object of interest can be any suitable object of interest, such as a person, a road sign, an entity, a landmark, a utility pole, a cellular tower, a building, a vehicle, a structure, etc. The object of interest can be determined using any suitable object recognition technique, object detection technique, etc. For instance, the object of interest can be detected using one or more machine learning classification techniques.

[0059] At (406), method (400) can include determining an adjusted configuration of the variable optical element. The adjusted configuration can correspond to an adjustment of an angular position of one or more surfaces of the variable optical element. The adjusted configuration can be determined based at least in part on the one or more objects of interest, such that the LIDAR scan can be directed toward the object(s) of interest, and the field of view of the LIDAR system can be focused on the an adjusted target area proximate the object! s) of interest. In this manner, the adjusted configuration can correspond to an adjusted field of view of the LIDAR system. In some implementations, the second configuration of the variable optical element can be effectuated by an adjustment of the inner radius of a variable end component of the variable optical element. In this manner, determining the adjusted configuration of the variable optical element can include determining an adjustment of the inner radius of the variable optical element to facilitate an arrangement of the variable optical element in the adjusted configuration,

[0060] At (408), method (400) can include receiving second data indicative of second reflected light within the wavelength range collected by one or more detectors of the LIDAR system. For instance, responsive of a determination of the second configuration of the variable optical element, the LIDAR scan can be directed to the adjusted target area. In this manner, the LIDAR system can be operated to scan the adjusted target area using the adjusted conical scan. Light reflected by one or more surfaces, objects, etc. within the target area can be reflected back toward the LIDAR system, and directed to the one or more detectors of the LIDAR system. Data indicative of the light collected by the detector(s) can be provided to one or more control devices associated with the LIDAR system.

[0061] At (410), method (400) can include generating a second 3D representation associated with the adjusted target area based at least in part on the second data indicative of the second reflected light. As indicated above, the second 3D representation can have a higher resolution than the f rst 3D representation due at least in part to the narrower field of view of the LIDAR system with respect to the adjusted target area. In some implementations, information associated with the adjusted target area can be determined based at least in part on the second 3D representation. For instance, the identification of the one or more objects of interest can be verified based on the second, higher resolution 3D representation. As another example, one or more additional objects of interest within the adjusted target area can be identified or detected based at least in part on the second, higher resolution 3D

representation.

[0062] The technology discussed herein makes reference to servers, databases, software applications, and other computer-based systems, as well as actions taken and information sent to and from such systems. One of ordinary skill in the art will recognize that the inherent flexibility of computer-based systems allows for a great variety of possible configurations, combinations, and divisions of tasks and functionality between and among components. For instance, server processes discussed herein may be implemented using a single server or multiple servers working in combination. Databases and applications may be implemented on a single system or distributed across multiple systems. Distributed components may operate sequentially or in parallel,

[0063] While the present subject matter has been described in detail with respect to specific example embodiments thereof, it will be appreciated that those skilled in the art, upon attaining an understanding of the foregoing may readily produce alterations to, variations of, and equivalents to such embodiments. Accordingly, the scope of the present disclosure is by way of example rather than by way of limitation, and the subject disclosure does not preclude inclusion of such modifications, variations and/or additions to the present subject matter as would be readily apparent to one of ordinary skill in the art,