Geometric Model and Calibration Method for a Solid-State LiDAR
Abstract
:1. Introduction
2. Problem and Model Formulation
2.1. The Problem
2.2. The Model
3. Materials and Methods
3.1. Calibration Method
3.2. Distortion Mapping Equations
3.3. Calibration Pattern and Algorithm
Algorithm 1: Image processing for obtaining the pixel locations of the lines’ intersections. |
3.4. Prototypes
4. Results
4.1. Model Simulation
4.2. Calibration Results
4.3. Impact on the Point Cloud
5. Conclusions
Author Contributions
Funding
Acknowledgments
Conflicts of Interest
Appendix A
Appendix A.1. Vectorial Snell’s Law
Appendix A.2. Geometrical Model of MEMS Scanning
References
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Figure of Merit [Mdeg] | Dir. | 30 × 20 | 50 × 20 | ||||
---|---|---|---|---|---|---|---|
Map 1 | Map 2 | Map 3 | Map 1 | Map 2 | Map 3 | ||
Homogeneous FOV [] | Odd | 27.55 × 16.32 | 27.47 × 16.54 | 27.47 × 16.52 | 52.89 × 13.96 | 53.19 × 14.44 | 53.34 × 14.38 |
Even | 27.25 × 16.44 | 27.46 × 16.64 | 27.45 × 16.63 | 53.08 × 13.33 | 53.07 × 14.27 | 53.07 × 14.21 | |
Mean error | Odd | 25 × 28 | 21 × 9 | 20 × 8 | 101 × 89 | 45 × 40 | 37 × 31 |
Even | 23 × 24 | 22 × 9 | 22 × 9 | 108 × 118 | 47 × 64 | 46 × 37 | |
Standard deviation | Odd | 24 × 23 | 14 × 5 | 14 × 5 | 66 × 97 | 34 × 32 | 29 × 22 |
Even | 24 × 18 | 14 × 7 | 14 × 7 | 73 × 110 | 37 × 48 | 35 × 31 | |
Max. angular error (<95%) | Odd | 79 × 70 | 48 × 17 | 47 × 19 | 239 × 274 | 117 × 103 | 95 × 72 |
Even | 77 × 60 | 48 × 25 | 47 × 26 | 265 × 324 | 117 × 165 | 113 × 98 |
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García-Gómez, P.; Royo, S.; Rodrigo, N.; Casas, J.R. Geometric Model and Calibration Method for a Solid-State LiDAR. Sensors 2020, 20, 2898. https://doi.org/10.3390/s20102898
García-Gómez P, Royo S, Rodrigo N, Casas JR. Geometric Model and Calibration Method for a Solid-State LiDAR. Sensors. 2020; 20(10):2898. https://doi.org/10.3390/s20102898
Chicago/Turabian StyleGarcía-Gómez, Pablo, Santiago Royo, Noel Rodrigo, and Josep R. Casas. 2020. "Geometric Model and Calibration Method for a Solid-State LiDAR" Sensors 20, no. 10: 2898. https://doi.org/10.3390/s20102898