Abstract: A detection method and system for a LiDAR and a LiDAR are provided. The detection method includes: performing a reflection receiving operation to enable a detector of a channel to be detected to receive multiple echo signals reflected by a target plate, to receive multiple reflectivity measurement values of the channel to be detected for the target plate determined by the LiDAR; and determining a reflectivity parameter of the channel to be detected based on a result of the reflection receiving operation, where the reflectivity parameter of the channel to be detected includes: at least one of reflectivity accuracy of the channel to be detected or reflectivity precision of the channel to be detected. The detection method can determine the consistency of the reflectivity measurement of respective channels of the LiDAR and the reflectivity measurement accuracy of an entire LiDAR system.

Abstract: A method for processing a point cloud generated by a light detection and ranging system, includes: receiving a first measurement generated by the light detection and ranging system; retrieving a plurality of second measurements that are adjacent to the first measurement; calculating a first parameter by using distances of the first measurement and the plurality of the second measurements, the first parameter indicating a degree of continuum of the first measurement relative to the plurality of the second measurements; and determining whether the first measurement represents a measurement of noises by using the first parameter.

Abstract: This disclosure provides a solid-state LiDAR and a method for controlling a solid-state LiDAR. The solid-state LiDAR includes: an emitter module and a receiver module, where the emitter module can emit a detection signal, and includes multiple light-emitter units; and the receiver module can receive an echo signal of the detection signal reflected by an obstacle, and includes multiple groups of detectors; and where an emitting sub-field of view corresponding to each light-emitter unit is coincident with a receiving sub-field of view corresponding to at least one group of detectors, and an angular range of the emitting sub-field of view corresponding to each light-emitter unit is greater than an angular range of the receiving sub-field of view corresponding to a coincident group of detectors.

Abstract: A method and an apparatus for improving the resolution of a LiDAR. The LiDAR includes a plurality of actual channels, each of which corresponds to one emitter unit at an emitting end and one detector unit at a detecting end. The method includes determining at least one interpolation channel to be generated; separately determining, for each interpolation channel to be generated, one or more associated channels among the plurality of actual channels; determining weights of the one or more associated channels with respect to the interpolation channel; and generating a waveform of the interpolation channel based on waveform information of the one or more associated channels and the weights thereof, and determining point cloud data of the LiDAR based on the waveform information of each actual channel and each interpolation channel. The solution of this disclosure can avoid increasing the hardware load thereon.

Abstract: A Lidar system is provided. The Lidar system comprise: a light source configured to emit a multi-pulse sequence to measure a distance between the Lidar system and a location in a three-dimensional environment, and the multi-pulse sequence comprises multiple pulses having a temporal profile; a photosensitive detector configured to detect light pulses from the three-dimensional environment; and one or more processors configured to: determine a coding scheme comprising the temporal profile, wherein the coding scheme is determined dynamically based on one or more real-time conditions including an environment condition, a condition of the Lidar system or a signal environment condition; and calculate the distance based on a time of flight of a sequence of detected light pulses, wherein the time of flight is determined by determining a match between the sequence of detected light pulses and the temporal profile.

Abstract: A method for processing a point cloud generated by a light detection and ranging system, includes: receiving a first measurement generated by the light detection and ranging system; retrieving a plurality of second measurements that are adjacent to the first measurement; calculating a first parameter by using distances of the first measurement and the plurality of the second measurements, the first parameter indicating a degree of continuum of the first measurement relative to the plurality of the second measurements; and determining whether the first measurement represents a measurement of noises by using the first parameter.

Abstract: This disclosure provides a diagnostic method for a position and orientation of a LiDAR, where the LiDAR is fixed to an apparatus, the diagnostic method including: determining a first reference data of scanning a calibration object by the LiDAR when it is in a standard position and orientation; controlling the LiDAR to scan the calibration object in a current position and orientation and collect a first measurement data of the LiDAR; and determining, based on the first reference data and the first measurement data, whether the current position and orientation of the LiDAR deviates from the standard position and orientation. In embodiments of this disclosure, using the characteristics of point cloud data of the LiDAR, the LiDAR diagnoses by itself an abnormal change in its relative position and orientation to the apparatus during the normal operation without the cooperation of other detector devices. Calculations of the diagnostic method are simple, and results are accurate.

Abstract: A calibration method, a calibration device (M10), a calibration system, and a readable storage medium. the calibration method comprises: receiving a point cloud determined by a LiDAR (LS1) from a field of view, the point cloud being in a LiDAR coordinate system (S11); receiving a set of survey points determined from the field of view by a survey device (CH1), the set of survey points being in a survey coordinate system (S12); based on the point cloud and the set of survey points, determining a first transformation parameter between the LiDAR coordinate system and the survey coordinate system (S13); based on the first transformation parameter and the position and orientation information of the vehicle (CA1) in the survey coordinate system (S14), determining a calibration parameter (S14) between the LiDAR coordinate system and the vehicle coordinate system of the vehicle (CA1). Both the calibration efficiency and the calibration precision can be improved, and batch calibration is facilitated.

Abstract: A Lidar system may comprise a rotor and a stator. The rotor is configured to rotate with respect to the stator. The rotor comprises at least one supporting body and a plurality of light sources disposed on the at least one supporting body, the plurality of light sources configured to emit a plurality of first light beams. The plurality of light beams are non-uniformly distributed along a vertical direction in a vertical field of view of the Lidar system.

Abstract: A multiline LiDAR includes a rotor, a stator, a plurality of lasers, a light collimator arranged in the rotor, and one or more carriers arranged in the rotor. The plurality of lasers are arranged on the one or more carriers in n rows, n?2, and lasers in different rows are staggered from each other. The multiline LiDAR is configured such that, when detection light emitted by each laser is reflected by objects, reflected light is converged on a detector after passing through an optical receiver, and detection beams emitted by the plurality of lasers are configured to be driven by the rotor to scan around a central axis to generate a scanning point cloud having a sparse-dense distribution in a vertical direction to obtain information about objects in a central field of view. A number of lines of the multiline LiDAR is equal to or greater than 16.

Abstract: A scanner and a method for controlling the scanner for a Lidar system are provided. The method comprises: producing a trigger signal by a positional sensor of the scanner; generating a single drive signal comprising a first component at a first frequency and a second component at a second frequency, the first component and the second component are superposed with a fixed phase relationship with aid of the trigger signal; transmitting the single drive signal to the scanner, and the scanner has resonant responses at the first frequency; and actuating the scanner to move in a first periodic motion at the first frequency about a first axis, and move in a second periodic motion at the second frequency about a second axis.

Abstract: A method for processing a point cloud generated by a light detection and ranging system, includes: receiving a first measurement generated by the light detection and ranging system; retrieving a plurality of second measurements that are adjacent to the first measurement; calculating a first parameter by using distances of the first measurement and the plurality of the second measurements, the first parameter indicating a degree of continuum of the first measurement relative to the plurality of the second measurements; and determining whether the first measurement represents a measurement of noises by using the first parameter.

Abstract: A device and method for measuring an angle of a scanner, and a LiDAR. The device for measuring the angle includes a conductor (11) and an angle measuring circuit (12), wherein the scanner comprises a scanning mirror (10); one side of the scanning mirror (10) includes a reflective surface and the other side thereof includes a mounting surface, and the scanning mirror can pivot around at least one axis; the conductor (11) can be fixed on the mounting surface; the angle measuring circuit (12) includes a resonant system (120) and a sampling unit (121); the resonant system (120) includes an inductor (1201) and a capacitor (1202), the inductor (1201) can be fixedly arranged at a predetermined distance from a stationary position of the conductor (11); and the sampling unit (121) can sample and output an electric signal of the resonant system (120), and can determine a parameter of the resonant system (120) so as to determine a tilt angle of the scanning mirror (10).

Abstract: A Lidar system and method is provided for adaptive control. The Lidar system comprises: an array of emitters each of which is individually addressable and controlled to emit a multi-pulse sequence, at least a subset of the emitters are activated to emit multi-pulse sequences concurrently according to an emission pattern; an array of photosensors each of which is individually addressable, at least a subset of the photosensors are enabled to receive light pulses according to a sensing pattern, each of the subset of photosensors is configured to detect returned light pulses returned and generate an output signal indicative of an amount of optical energy associated with at least a subset of the light pulses; and one or more processors electrically coupled to the array of emitters and the array of photosensors and configured to generate the emission pattern and the sensing pattern based on one or more real-time conditions.

Abstract: A Lidar system may comprise a rotor and a stator. The rotor is configured to rotate with respect to the stator. The rotor comprises at least one supporting body and a plurality of light sources disposed on the at least one supporting body, the plurality of light sources configured to emit a plurality of first light beams. The plurality of light beams are non-uniformly distributed along a vertical direction in a vertical field of view of the Lidar system.