Introduction - RoboSense RS-Ruby User Manual

2 Introduction

RS-Ruby, the 128-beam LiDAR developed by RoboSense, is the world leading
Multi-Beam LiDAR that is particular utilized in and perception of environment for
autonomous driving.
RS-Ruby is realized by solid-state hybrid LiDAR. The technical details are listed below:
Measurement rang 200 meters
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Vertical angle resolution up to 0.1°
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Accuracy ± 5 centimeter
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Data rate up to 2,304,000 points/second
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Horizontal field of view (FOV) of 360°
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Vertical field of view (FOV) of -25°~15°
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128 emitters in RS-Ruby can supply high-frequency laser impulse to scan environment
around LiDAR by rapidly spinning optical module. Advanced digital signal processing and
ranging algorithms calculate point cloud data and reflectivity of objects to enable the
machine to "see" the world and to provide reliable data for localization, navigation and
obstacle perception.
The operating Instructions of LiDAR:
Connecting the device of RS-Ruby;
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Parsing the data packets, in order to capturing the values of azimuth, measuring

distance and calibrated reflectivity;
Calculate X, Y, Z coordinates from reported azimuth, measured distance, and vertical

angle;
Storing the data of point cloud according to demand;

Checking the status of set-up information of device;

Resetting the status of network configuration, timing and rotation speed according to

demand.
Figure 1. Representation of RS-Ruby Imaging.
2
RS-Ruby Users' Manual