Hesai Pandar64 User Manual
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Hesai Pandar64 User Manual

64-channel mechanical lidar
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Pandar64
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Summary of Contents for Hesai Pandar64

  • Page 1 Pandar64 64-Channel Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents About This Manual ..................1 Home ..................... 44 Settings ..................46 Safety Notice ....................3 Azimuth FOV ................. 54 1 Introduction ..................10 Operation Statistics ..............58 Operating Principle ..............10 Upgrade ..................59 Lidar Structure ................11 5 Communication Protocol ..............60 Channel Distribution ..............

  • Page 3: About This Manual

    · This lidar product is intended as a component of an end product. It shall be evaluated in end product according to relevant standards. ■ Access to This Manual To obtain the latest version: · Visit the Download page of Hesai's official website: https://www.hesaitech.com/en/download · Or contact your sales representative at Hesai ·...
  • Page 4 ■ Legends Warnings: instructions that must be followed to ensure safe and proper use of the product. Notes: additional information that may be helpful.

  • Page 5: Safety Notice

    Safety Notice ■ Special Warnings Laser Safety Hot Surface Hot parts! Burned fingers when handling the parts. Wait one-half hour after switching off before handling parts.
  • Page 6 Vibration · If significant mechanical shocks and vibration may exist in the product's operating environment, please contact Hesai's technical support team to obtain the shock and vibration limits of this product model. Exposure to over-the-limit shocks or vibration may damage the product.
  • Page 7 Explosive Atmosphere and Other Air Conditions · Do NOT use the product in any area where potentially explosive atmospheres are present, such as high concentrations of flammable chemicals, vapors, or particulates (including particles, dust, and metal powder) in the air. ·...
  • Page 8 · Please check the section in the product's user manual and strictly follow the instructions on plugging/unplugging the connector. If abnormalities already exist (such as bent pins, broken cables, and loose screws), stop using the product and contact Hesai technical support.
  • Page 9 Hesai technical support. · Do NOT squeeze or pierce the product. If the product enclosure is broken, stop using it immediately and contact Hesai technical support. · The product contains high-speed rotating parts. To avoid potential injuries, do NOT operate the product if the enclosure is loose.
  • Page 10 Using off-spec or unsuitable devices may result in product damage or even personal injuries. Firmware and Software Upgrading Make sure to use only the upgrade files provided by Hesai Technology. Make sure to observe all the instructions provided for that upgrade file. Custom Firmware and Software ·...
  • Page 11 Repair Unless expressly agreed to in writing by Hesai Technology, do NOT by yourself or entrust any third party to disassemble, repair, modify, or retrofit the product. Such a breach: · can result in product damage (including but not limited to water resistance failure), property loss, and/or personal injuries;...

  • Page 12: Introduction

    1 Introduction This manual describes the specifications, installation, and data output format of Pandar64. Operating Principle Distance Measurement: Time of Flight (ToF) 1) A laser diode emits a beam of ultrashort laser pulses onto the target object. 2) The laser pulses are reflected after hitting the target object. The returning beam is detected by an optical sensor.

  • Page 13: Lidar Structure

    Lidar Structure 64 pairs of laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.2 Partial Cross-Sectional Diagram Figure 1.3 Coordinate System (Isometric View) Figure 1.4 Rotation Direction (Top View) The lidar's coordinate system is illustrated in Figure 1.3. Z-axis is the axis of rotation. The origin is shown as a red dot in Figure 1.6 on the next page.

  • Page 14: Channel Distribution

    · Send this PTC command , as described in Hesai TCP API Protocol (Chapter 5). · Or export the file using PandarView, see the PandarView user manual. · Or contact a sales representative or technical support engineer from Hesai. -12-...

  • Page 15: Specifications

    Specifications SENSOR MECHANICAL/ELECTRICAL/OPERATIONAL Scanning Method Mechanical Rotation Wavelength 905 nm Channel Laser Class Class 1 Eye Safe Range Capability 0.3 to 200 m (at 10% reflectivity) Ingress Protection IP6K7 Range Accuracy ① ±5 cm (0.3 to 1 m)，±2 cm (1 to 200 m) Dimensions Height: 116.7 mm...
  • Page 16 (Continued) ① Range accuracy · Defined as the average range error across all channels. · May vary with range, temperature, and target reflectivity. ② Power consumption · Not including accessories such as the connection box. · The external power supply should be able to provide at least 22 W. ③...

  • Page 17: Setup

    2 Setup Mechanical Installation Figure 2.1 Front View (Unit: mm) -15-...
  • Page 18 Figure 2.2 Bottom View (Unit: mm) -16-...
  • Page 19 2.1.1 Quick Installation Figure 2.3 Quick Installation -17-...
  • Page 20 2.1.2 Stable Installation Figure 2.4 Stable Installation -18-...
  • Page 21 2.1.3 Notes on Screw Installation ■ Screw Type SEMS screws (with pre-attached flat washers and lock washers) are recommended. Property class should be at least 4.8. ■ Threadlocker Before fastening a screw, apply 1 or 2 dots of threadlocker in the thread fit area. LOCTITE® 263 Threadlocker is recommended. To ensure curing in place, wait for at least 12 hours before operating the lidar.

  • Page 22: Interfaces

    Interfaces Lemo Contact is the default communication connector. (Another option is the Phoenix Contact, detailed in Appendix IV.) Lemo part number: FGG.2T.316.CLAC75Z (male plug, on the lidar) From the eye to the interface Figure 2.5 Lemo Connector (Male Plug) Pin # Signal Color Voltage...
  • Page 23 The timing requirements of GPS PPS and GPS Serial Data (NMEA) are shown below: NMEA PPS cycle t3 = 1 s ±50 μs (rising edge to rising edge) PPS pulse width t1 ≥ 1 ms (10 to 100 ms recommended) Timing relationship NMEA signal starts after the PPS rising edge of the current second, and ends after the PPS falling edge of the current second, as shown by the gray arrows in figure above.
  • Page 24 · In case a connector's shell is accidentally pulled off, stop using the connector and contact Hesai technical support. · DO NOT attempt to assemble the connector's shell and cable collet; DO NOT connect a connector without its shell. Doing so may damage the lidar's circuits.

  • Page 25: Connection Box (Optional)

    Connection Box (Optional) Users may connect the lidar directly or using the connection box. Lemo part number: PHG.2T.316.CLLC75Z (female socket, on the connection box) Figure 2.7 Connection Box (Unit: mm) -23-...
  • Page 26 Ground for the external GPS module Input Receiving serial data from the external GPS module RS232 level Output Ground for the external GPS module Reserved For Pandar64 lidars with Lemo connectors, a trigger port is added to output external trigger signals. -24-...
  • Page 27 Figure 2.9 Connecting Box (Back) Port # Port Name Description Trigger Port Outputs external trigger signals for multi-sensor synchronization. Connector (socket): Molex, LLC 5023520300 Recommended wire connector (plug): Molex, LLC 5023510300 Voltage: 0 to 3.3 V Signal type: pulse Max. current output level: 12 mA Pin Description for the trigger port: Pin # Direction...
  • Page 28 2.3.2 Connection Figure 2.10 Connection Box (Connection with GPS) -26-...
  • Page 29 Figure 2.11 Connection Box (Connection with PTP) -27-...

  • Page 30: Get Ready To Use

    To set parameters, check device info, or upgrade firmware/software, see Chapter 4 (Web Control) To obtain the SDKs (Software Development Kits) for your product model, · please find the download link at: www.hesaitech.com/en/download (Product Documentation → select product model) · or visit Hesai's official GitHub page: https://github.com/HesaiTechnology -28-...

  • Page 31: Data Structure

    3 Data Structure The lidar outputs Point Cloud Data Packets and GPS Data Packets using 100 Mbps Ethernet UDP/IP. Figure 3.1 Data Structure with UDP Sequence OFF UDP sequence is OFF by default. When UDP sequence is ON, the Additional Information in the UDP data changes from 22 bytes to 26 bytes. -29-...

  • Page 32: Point Cloud Data Packet

    Point Cloud Data Packet 3.1.1 Ethernet Header Each lidar has a unique MAC address. The source IP is 192.168.1.201 by default, and the destination IP is 0xFF FF FF FF (broadcast). Point Cloud Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx)
  • Page 33 3.1.2 UDP Data ■ Header: 8 bytes Field Bytes Description 0xEEFF SOP (start of packet), 0xEE first Laser N 0x40 (64 channels) Block N 0x6 (6 blocks per packet) Reserved Dis Unit 4 mm Reserved Reserved ■ Body: 1164 bytes (6 blocks) Block 1 Block 2 Block 3...
  • Page 34 Block size = size of Azimuth + 64 * Size of Channel X Each Block in the Body: 194 bytes Field Bytes Description Azimuth Current reference angle of the rotor Unit: 0.01° Channel X 2-byte Distance Distance Value = Distance * Dis Unit Dis Unit is specified in the "Header"...
  • Page 35 ■ Tail: 22/26 bytes when UDP sequence is OFF/ON Field Bytes Description Reserved High Temperature 0x01 for high temperature; 0x00 for normal operation Shutdown Flag · When high temperature is detected, the shutdown flag will be set to 0x01, and the system will shut down after 60 s.
  • Page 36 Field Bytes Description UDP Sequence Added only when UDP sequence is ON Label the sequence number of Point Cloud UDP packets 0 to 0xFF FF FF FF -34-...
  • Page 37 3.1.3 Point Cloud Data Analysis Take Channel 5 in Block 2 as an example: ■ Analyze the vertical angle of a data point The designed vertical angle of Channel 5 is 3.04°， according to Appendix I (Channel Distribution) Notes · The accurate vertical angle is recorded in this LiDAR's unit's angle correction file, see Section 1.3 (Channel Distribution). ·...
  • Page 38 ④ Firing time offset of the channel Look up the table in Appendix II (Absolute Time of Point Cloud Data). ⑤ Spin rate of the motor See Section 4.1 (Web Control – Home). ■ Analyze the distance of a data point Actual distance in real world millimeters = distance measurement * Distance Unit ·...

  • Page 39: Gps Data Packet

    GPS Data Packet When GPS is selected as the clock source (see Section 4.2 Web Control - Settings), GPS Data Packets are triggered every second. When PTP is selected as the clock source, the LiDAR does not output GPS Data Packet. All the multi-byte values are unsigned and in little endian format.
  • Page 40 3.2.1 Ethernet Header The source IP is 192.168.1.201 by default. The destination IP address is 255.255.255.255 and in broadcast form. GPS Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx) Ethernet Data Packet Type 0x08, 0x00 Internet Protocol...
  • Page 41 3.2.2 UDP Data GPS UDP data: 512 bytes Field Bytes Description GPS Time Data Header 2 bytes 0xFFEE (0xFF first) Date 6 bytes Year, month, and day (2 bytes each, lower byte first) in ASCII Time 6 bytes Second, minute, and hour (2 bytes each, lower byte first) in ASCII Reserved 4 bytes GPRMC/GPGGA Data...
  • Page 42 ■ GPRMC Data Format $GPRMC, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format <02> Location Status A (hex = 41) for Valid Position V (hex = 56) for Invalid Position NUL (hex = 0) for GPS being unlocked <09>...
  • Page 43 ■ GPGGA Data Format $GPGGA, <01>, <02>, <03>, <04>, <05>, <06>, <07>, <08>, <09>, <10>, <11>, <12>*hh Field # Field Description <01> UTC Time Hour, minute, and second Typically in hhmmss (hour, minute, second) format <06> GPS Fix Quality 0 = invalid 1 = GPS fix (SPS) 2 = DGPS fix 3 = PPS fix...
  • Page 44 3.2.3 GPS Data Analysis Figure 3.4 GPS Data Packet - UDP Data (Example) Date Field Data (ASCII Code) Characters Meaning Year 0x30 0x32 '0', '2' Month 0x34 0x30 '4', '0' 0x37 0x30 '7', '0' Time Field Data (ASCII Code) Characters Meaning Second 0x38 0x35...

  • Page 45: Web Control

    4 Web Control Web control is used for setting parameters, checking device info, and upgrading. To access web control 1) Connect the lidar to your PC using an Ethernet cable 2) Set the IP address according to Section 2.4 (Get Ready to Use) 3) Enter this URL into your web browser: 192.168.1.201 Google Chrome and Mozilla Firefox are recommended.

  • Page 46: Home

    Home Status Spin Rate 600 rpm Unlock NMEA (GPRMC/GPGGA) Unlock Free Run Device Info Device Log Model Pandar64 PA64XXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 2.10.8 Sensor Firmware Version 4.3.44b Controller Firmware Version 5.32 Button Description Device Log Click to download a .JSON file that contains the lidar status, device info, all configurable parameters, and the upgrade log.
  • Page 47 Parameter Description Spin Rate Spin Rate of the motor (rpm) = frame rate (Hz) * 60 GPS (PPS) status Lock Lidar's internal clock is in sync with GPS PPS Unlock Not in sync NMEA NMEA status (GPRMC/GPGGA) Lock After receiving a valid NMEA message Unlock Not receiving a valid NMEA message for over 2 s PTP status...

  • Page 48: Settings

    Settings Reset All Settings Control IP IPv4 Address 192.168.1.201 IPv4 Mask 255.255.255.0 IPv4 Gateway 192.168.1.1 VLAN □ Settings Destination IP 255.255.255.255 Lidar Destination Port 2368 Spin Rate 600 rpm Return Mode Dual Return UDP Sequence Sync Angle □ Trigger Method Time Based Clock Source GPS Mode...
  • Page 49 (Continued) Noise Filtering Interstitial Points Filtering Retro Multi-Reflection Filtering Reflectivity Mapping Linear Mapping Standby Mode In Operation / Standby Save Button Description Reset All Settings Reset all the configurable parameters to factory defaults, including: · Section 4.2 (Settings) · Section 4.3 (Azimuth FOV) Save Save and execute all the settings on this page.
  • Page 50 4.2.1 Network Settings Parameter Options Description VLAN Default: OFF To enable VLAN tagging: VLAN ID: 1 ~ 4094 · Make sure the receiving host also supports VLAN. · Check the checkbox and input the lidar's VLAN ID (same as the receiving host's VLAN ID).
  • Page 51 4.2.2 Function Settings Parameter Options Description Spin Rate 600 RPM (default) The setting spin rate is also shown on web control, see Section 4.1 (Web Control – 1200 RPM Home). Return Mode Single Return Also shown in Point Cloud Data Packets, see the Return Mode field in Section 3.1.2 ·...
  • Page 52 these lidars will rotate to that same azimuthal position at every full second. Trigger Method Time-Based(default) The way laser firings are triggered. Angle-Based Angle-based Lasers fire every 0.2° at 10 Hz or 0.4° at 20 Hz. Time-based Lasers fire every 55.56 us. Noise Filtering OFF (default) To mitigate the scattered false positives (i.e.
  • Page 53 4.2.3 Time Settings Clock Source GPS Mode GPRMC GPS Destination Port 10110 Clock Source Profile 1588v2 Time Offset for Lidar Lock PTP Network Transport UDP/IP PTP Domain Number PTP logAnnounceInterval PTP logSyncInterval PTP logMinDelayReqInterval Parameter Options Description Clock Source GPS (default) External source of absolute time -51-...
  • Page 54 ■ With GPS Selected Parameter Options Description GPS Mode GPRMC (default) Format of the NMEA data received from the external GPS module, see Section 3.2.2 (GPS GPGGA UDP Data) GPS Baud Rate 9600 19200 38400 115200 Destination Port Default: 10110 Port used for sending GPS Data packets ■...
  • Page 55 Parameter Options Description -2 to 3 Time interval between Announce messages logAnnounceInterval Default: 1 Default: 1 log second (2 seconds) -7 to 3 Time interval between Sync messages logSyncInterval Default: 1 Default: 1 log second (2 seconds) -7 to 3 Minimum permitted mean time between Delay_Req messages logMinDelayReqInterval Default: 0...

  • Page 56: Azimuth Fov

    Azimuth FOV Button Description Save Save and execute all the settings on this page. Parameter Options Description Azimuth FOV Setting For all channels (default) Configuration mode of the azimuth FOV. The lidar outputs valid data only within the specified azimuth FOV ranges. Multi-section FOV Note ·...
  • Page 57 4.3.1 For all channels Input a Start Angle and an End Angle to form a continuous angle range. This range applies to all channels. -55-...
  • Page 58 4.3.2 For each channel Users can configure one continuous angle range for each channel. Each channel outputs valid data only within its specified range. The "Status" button for each channel is gray by default, indicating that the angle range is [0°, 360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.
  • Page 59 4.3.3 Multi-section FOV Users can configure up to ten continuous angle ranges (i.e. sections) for each channel. Each channel outputs valid data only within its specified ranges. The "Status" button for each channel is gray by default, indicating that the angle range is [0°, 360°]. To activate the angle range configuration for each channel, click the corresponding button to make it green.

  • Page 60: Operation Statistics

    Operation Statistics These operating parameters are shown in real time: Start-Up Counts Internal Temperature 32.10℃ System Uptime 0 h 5 min Total Operation Time 559 h 43 min Internal Temperature Operation Time < -40 ℃ 0 h 1 min -40 to -20 ℃ 0 h 46 min 100 to 120 ℃...

  • Page 61: Upgrade

    Upgrade Preparation · Please contact Hesai technical support to receive encrypted and signed upgrade files. · During the upgrade, it is recommended to place a protective leather cover (supplied with the lidar) or other opaque material over the lidar's cover lens.

  • Page 62: Communication Protocol

    5 Communication Protocol To receive Hesai lidar's PTC (Pandar TCP Commands) and HTTP API Protocols, please contact Hesai technical support. -60-...

  • Page 63: Sensor Maintenance

    6 Sensor Maintenance ■ Cleaning Stains on the product's cover lens, such as dirt, fingerprints, and oil, can negatively affect point cloud data quality. Please perform the following steps to remove the stains. Warnings · Turn OFF the power source before cleaning. ·...
  • Page 64 (Continued) 4) When the stains have loosened, dip a piece of lint-free wipe into the solvent made in Step 3, and gently wipe the cover lens back and forth along its curved surface. 5) Should another cleaning agent be applied to remove certain stains, repeat Steps 3 and 4. 6) Spray the cover lens with clean water, and gently wipe off the remaining liquid with another piece of lint-free wipe.

  • Page 65: Troubleshooting

    7 Troubleshooting In case the following procedures cannot solve the problem, please contact Hesai technical support. Symptoms Points to Check Verify that · power adapter is properly connected and in good condition Indicator light is off on · connection box is intact the connection box ·...
  • Page 66 · if VLAN is enabled, the PC's VLAN ID is the same with the lidar's Wireshark but not on · the latest PandarView version (see the Download page of Hesai's official website or contact Hesai technical PandarView support) is installed on the PC Power on again to check if the symptom persists.
  • Page 67 Symptoms Points to Check Verify that · Ethernet cable is properly connected (by unplugging and plugging again) · Lidar's IP is in the same subnet with the PC's. Users may use WireShark to check the lidar's IP that broadcasts data packets Cannot open web ·...
  • Page 68 · If no packet is missing and yet the point cloud flashes, please update PandarView to the latest version (see the FOV) Download page of Hesai's official website or contact Hesai technical support) and restart the PC If the point cloud is still abnormal ·...

  • Page 69: Appendix I Channel Distribution

    Appendix I Channel Distribution The Horizontal Angle (Azimuth) Offsets and Vertical Angles (Elevation) in the table next page are design values. The accurate values are in this lidar's unit's angle correction file, see Section 1.3 (Channel Distribution) and Section 3.1.3 (Point Cloud Data Analysis).
  • Page 70 Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity 01 (Top Beam) -1.042° 14.882° 200@20% -1.042° 11.032° 200@20% -1.042° 8.059° 200@20% -1.042° 5.057° 200@20% -1.042°...
  • Page 71 Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity 5.208° -0.508° 200@10% -5.208° -0.675° 200@10% -3.125° -0.845° 200@10% -1.042° -1.013° 200@10% 1.042° -1.184° 200@10% 3.125°...
  • Page 72 Channel Distribution (To Be Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity -3.125° -3.884° 200@20% -1.042° -4.050° 200@20% 1.042° -4.221° 200@20% 3.125° -4.385° 200@20% 5.208° -4.558° 200@20% -5.208°...
  • Page 73 Channel Distribution (Continued) Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters) in UDP Data (Azimuth) (Elevation) (in meters) with Reflectivity -1.042° -12.974° 200@20% -1.042° -13.930° 200@20% -1.042° -18.889° 200@20% 64 (Bottom Beam) -1.042° -24.897° 200@20% -71-...

  • Page 74: Appendix Ii Absolute Time Of Point Cloud Data

    Appendix II Absolute Time of Point Cloud Data ■ Source of Absolute Time The lidar retrieves the current absolute time by connecting to an external clock source (GPS/PTP). Users can select the clock source, see Section 4.2 (Web Control - Settings). 1) GPS as the Clock Source ·...
  • Page 75 μs time Description PPS status Unlocked Not synchronized The lidar's internal 1 Hz signal is not aligned with the GPS second. Locked Synchronized The rising edge of the lidar's internal 1 Hz signal is aligned with the rising edge of the PPS signal (i.e. the start of each GPS second).
  • Page 76 2) PTP as the Clock Source · The lidar connects to a third-party PTP master to obtain the absolute time. · Users may configure the PTP settings, see Section 4.2 (Web Control – Settings). · Users may check the PTP signal status, see Section 4.1 (Web Control - Home). ·...
  • Page 77 ■ Absolute Time of Point Cloud Data Packets Definition · Every time the lidar passes a fixed time Δt or azimuth interval Δα (see Section 4.2 Web Control – Trigger Method), it sends a command that triggers a round of firing. ·...
  • Page 78 ■ End Time of Each Block Assuming the absolute time of a Point Cloud Data Packet is t0, the end time of each block (i.e., time when the last firing ends) can be calculated. Block End Time (μs) Block End Time (μs) Block 6 t0 - 42.58 Block 6 &...
  • Page 79 (Continued) Firing Sequence Channel # Δt(n) (μs) Firing Sequence Channel # Δt(n) (μs) -34.988 -16.66 -34.988 -16.66 -33.02 -15.356 -33.02 -15.356 -31.052 -14.052 -31.052 -14.052 -29.084 -12.748 -29.084 -12.748 -27.116 -11.444 -27.116 -11.444 -25.148 -10.14 -25.148 -10.14 -23.18 -8.836 -23.18 -8.836 -21.876 -7.532...

  • Page 80: Appendix Iii Phoenix Contact

    Appendix III Phoenix Contact Phoenix Contact can be used as the lidar's communication connector, in place of the default Lemo Contact in Section 2.2 (Interfaces). Phoenix part number: SACC-M12MS-8CON-PG 9-SH - 1511857 (male, on the lidar) SACC-M12FS-8CON-PG 9-SH - 1511860 (female, on the connecting box) From the eye to the interface Pin #...

  • Page 81: Appendix Iv Nonlinear Reflectivity Mapping

    Appendix IV Nonlinear Reflectivity Mapping By default, the 1-byte reflectivity data in Point Cloud Data Packets linearly represents target reflectivity from 0 to 255%. Alternatively, users may choose the Nonlinear Mapping mode, see Chapter 4 (Web Control - Settings). The nonlinear relationship is detailed below. Reflectivity Index (0~255) -79-...
  • Page 82 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 0.67 2.69 0.01 0.75 2.81 0.02 0.81 2.94 0.03 0.87 3.07 0.04 0.95 3.21 0.05 1.05 3.36 0.08 1.15...
  • Page 83 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 10.17 15.87 22.83 31.17 10.5 16.17 23.25 31.5 10.83 16.5 23.75 31.83 11.12 16.83 24.17 32.25 11.37 17.17 24.5...
  • Page 84 Nonlinear Reflectivity Mapping (Continued on the Next Page) Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity Reflectivity Index Reflectivity (0~255) (0~255) (0~255) (0~255) 40.5 51.25 63.25 76.5 41.25 51.75 63.75 77.25 41.75 52.25 64.5 77.75 42.25 52.75 65.25 78.5 42.75 53.5 65.75...
  • Page 85 Nonlinear Reflectivity Mapping (Continued) Reflectivity Index Reflectivity (0~255) 90.5 91.5 92.5 93.25 93.75 94.5 95.5 96.25 96.75 97.5 98.5 99.5 -83-...

  • Page 86: Appendix V Legal Notice

    Appendix V Legal Notice Copyright 2021 by Hesai Technology. All rights reserved. Use or reproduction of this manual in parts or its entirety without the authorization of Hesai is prohibited. Hesai Technology makes no representations or warranties, either expressed or implied, with respect to the contents hereof and specifically disclaims any warranties, merchantability, or fitness for any particular purpose.
  • Page 87 Hesai Technology Co., Ltd. Phone: +86 400 805 1233 Business Email: info@hesaitech.com Website: www.hesaitech.com Service Email: service@hesaitech.com Address: Building L2, Hongqiao World Centre, Shanghai, China HESAI Wechat...

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