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Geometric model and calibration method for a solid-state LiDAR

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10.3390/s20102898
 
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hdl:2117/190187

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García Gómez, PabloMés informacióMés informació
Royo Royo, SantiagoMés informacióMés informacióMés informació
Rodrigo Arcay, NoelMés informacióMés informació
Casas Pla, Josep RamonMés informacióMés informacióMés informació
Document typeArticle
Defense date2020-05-20
PublisherMultidisciplinary Digital Publishing Institute (MDPI)
Rights accessOpen Access
Attribution 4.0 International
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution 4.0 International
Abstract
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.
CitationGarcía-Gómez, P. [et al.]. Geometric model and calibration method for a solid-state LiDAR. "Sensors", 20 Maig 2020, vol. 20, núm. 10, p. 2898-1-2898-23. 
URIhttp://hdl.handle.net/2117/190187
DOI10.3390/s20102898
ISSN1424-8220
Publisher versionhttps://www.mdpi.com/1424-8220/20/10/2898
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