Velodyne LIDAR HDL-32E Uživatelský manuál stáhnout pdf (Strana 17)

HDL32E: Intensity Data

•  Intensity data output format the same as previously (8 bit, 0-255 values)

•  value 0 – value 100 = 0 – 100% reflectivity from diffuse surface

a)  value zero means 0% reflectivity, which means that 0% of light is reflected back to the sensor (black, absorbent surface)

b)  value 100 means 100% reflectivity, which means that 100% of light is reflected (white, highly reflective surface) into many directions of which

a small angle is captured by the sensor

•  Values higher than 100% reflectivity are possible, if the surface is not a diffuse surface but a highly

reflective surface like a retro-reflector

•  Anything higher than 100% is defined as a partial reflection from a high reflector

•  Value 101 – 255 = partial reflection from retro-reflector

c)  value 101 means reflection is almost the same as white, reflective diffuse reflector (b) plus small amount of reflection from the retro-reflector

d)  value 255 means ideal reflection of the retro-reflector (perfectly clean retro-reflector, no coverage)

white, reflective

diffuse reflector

(value 100)

black, absorbent

diffuse reflector

(value 0)

a) b)

retro-reflector covered with

semi-transparent white surface

(value 101)

retro-reflector without

any coverage

(value 255)

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Velodyne LIDAR HDL-32E Uživatelský manuál Strana 17