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2-D LiDAR Sensor
Appendix
9.2
Amplitude Characteristics
In addition to the measured value output for the distance, the R2000 generates an
echo amplitude for each measuring step. The measured value for the echo
amplitude is a value without a unit of measurement, ranging from 0 ... 4095 digits.
The echo amplitude is a measure of the energy received by the R2000. The
measured value is dependent on the surface properties of the measurement
object (reflectivity, structure), the distance from the measurement object, and the
angle of incidence of the measurement beam. The measurement of the echo
amplitude is not calibrated and is used for relative distinction between different
object reflectivities.
In particular, evaluation of the echo amplitudes can be used to distinguish
between natural surfaces and reflective film.
The picture below shows the curve of the echo amplitude on reflective film
(diamond grade 983-10). The curve shows the smallest expected measured value
in relation to the distance.
The second curve represents the largest value on a white (90 % reflectivity),
natural surface in relation to the distance.
Echoamplitude characteristic
Echoamplitude [digit]
700
600
500
400
300
200
100
0
0.1
Figure 9.1
0.5
1.0
Echoamplitude on Diamond Grade 983-10
Object remission 0% ... 90 %
Amplitude characteristics for OMD10M-R2000-B23-V1V1D*
10
60
Distance X [m]
33
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