High Precision 3D Point Cloud with Modulated Pulses for LiDAR System
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The LiDAR system uses laser pulses to delineate the 3D point cloud. Conventional LiDAR equipment is bulky and expensive because it contains multiple sets of laser guns and photo diodes with mechanical motors. If there are multiple LiDAR devices in the same filed or other laser beams that are of the same wavelength, the measurements can be interfered by one another. In this paper, we proposed the architecture to differentiate the desired signal from the ambient interference. The detecting laser pulses are encoded while the reflected laser pulses are analysed in both time and frequency domain. Additionally, the accuracy is further improved by phase equalization of the reflected laser pulses. The FPGA platform with MEMs mirror was built to validate the pro-posed architecture, and the dimension of the platform is greatly reduced so that the prototype is portable.
KeywordsLiDAR ToF Multi-user Fast Fourier Transform Time Delay and Phase Rotate Conversion
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