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Open AccessArticle

Geometric Model and Calibration Method for a Solid-State LiDAR

Centre for Sensors, Instrumentation and Systems Development, Universitat Politècnica de Catalunya (CD6-UPC), Rambla de Sant Nebridi 10, 08222 Terrassa, Spain
Beamagine S.L., Carrer de Bellesguard 16, 08755 Castellbisbal, Spain
Image Processing Group, TSC Department, Universitat Politècnica de Catalunya (UPC), Carrer de Jordi Girona 1-3, 08034 Barcelona, Spain
Author to whom correspondence should be addressed.
Sensors 2020, 20(10), 2898;
Received: 7 April 2020 / Revised: 15 May 2020 / Accepted: 18 May 2020 / Published: 20 May 2020
(This article belongs to the Section Optical Sensors)
This paper presents a novel calibration method for solid-state LiDAR devices based on a geometrical description of their scanning system, which has variable angular resolution. Determining this distortion across the entire Field-of-View of the system yields accurate and precise measurements which enable it to be combined with other sensors. On the one hand, the geometrical model is formulated using the well-known Snell’s law and the intrinsic optical assembly of the system, whereas on the other hand the proposed method describes the scanned scenario with an intuitive camera-like approach relating pixel locations with scanning directions. Simulations and experimental results show that the model fits with real devices and the calibration procedure accurately maps their variant resolution so undistorted representations of the observed scenario can be provided. Thus, the calibration method proposed during this work is applicable and valid for existing scanning systems improving their precision and accuracy in an order of magnitude. View Full-Text
Keywords: solid-state LiDAR; LiDAR calibration; distortion correction; FOV mapping solid-state LiDAR; LiDAR calibration; distortion correction; FOV mapping
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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.

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