Centre for Sensors, Instruments and Systems Development

Universitat Politècnica de Catalunya

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06/03/2020
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Geometric Model and Calibration Method for a Solid-State LiDAR

This work introduces 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  ccurately 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.

This work has been carried out for the company BEAMAGINE, which has received support through the CD6 photonic technology incubator (CAREF) which is part of the "Healtcare Innovation Lab Orbital40" project promoted and coordinated by Terrassa City Council and funded by the following institutions:
  • Directorate General of Local Administrations of the Generalitat de Catalunya - Territorial Competitive Specialization Projects (PECT)
  • Barcelona Provincial Council
  • Technical University of Catalonia (UPC)
  • European Regional Development Fund (ERDF)

Keywords: solid-state LiDAR; LiDAR calibration; distortion correction; FOV mapping
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