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Geometric Model and Calibration Method for a Solid-State LiDAR.

Pablo García-Gómez1,2, Santiago Royo1,2, Noel Rodrigo1,2

  • 1Centre for Sensors, Instrumentation and Systems Development, Universitat Politècnica de Catalunya (CD6-UPC), Rambla de Sant Nebridi 10, 08222 Terrassa, Spain.

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Summary
This summary is machine-generated.

This study introduces a new calibration method for solid-state LiDAR, improving measurement accuracy. The technique accurately maps variable resolution for better sensor fusion and undistorted 3D scene reconstruction.

Keywords:
FOV mappingLiDAR calibrationdistortion correctionsolid-state LiDAR

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Area of Science:

  • Robotics
  • Computer Vision
  • Optical Engineering

Background:

  • Solid-state LiDAR devices are crucial for 3D sensing.
  • Variable angular resolution in LiDAR systems introduces distortions.
  • Accurate calibration is essential for reliable sensor fusion and data interpretation.

Purpose of the Study:

  • To present a novel geometric calibration method for solid-state LiDAR.
  • To address and correct for variable angular resolution distortions.
  • To enhance the precision and accuracy of LiDAR measurements for improved sensor integration.

Main Methods:

  • Formulating a geometrical model using Snell's law and optical assembly.
  • Developing an intuitive camera-like approach to map pixel locations to scanning directions.
  • Validating the method through simulations and experimental results on real devices.

Main Results:

  • The proposed geometrical model accurately describes LiDAR scanning systems.
  • The calibration procedure effectively maps variant angular resolution across the Field-of-View.
  • Achieved an order of magnitude improvement in LiDAR precision and accuracy.

Conclusions:

  • The novel calibration method is applicable to existing solid-state LiDAR systems.
  • The technique provides undistorted representations of scanned environments.
  • Enhanced LiDAR accuracy facilitates more reliable integration with other sensing modalities.