Hesai PandarXT-16 User Manual
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Hesai PandarXT-16 User Manual

16-channel medium-range mechanical lidar
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PandarXT-16
16-Channel Medium-Range
Mechanical LiDAR
User Manual
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Summary of Contents for Hesai PandarXT-16

  • Page 1 PandarXT-16 16-Channel Medium-Range Mechanical LiDAR User Manual HESAI Wechat...

  • Page 2: Table Of Contents

    Contents About This Manual ..................1 4 Web Control ..................43 Safety Notice ....................3 Home ..................... 44 1 Introduction ..................10 Settings ..................46 Azimuth FOV ................. 54 Operating Principle ..............10 Operation Statistics ..............57 Lidar Structure ................11 Upgrade ..................

  • 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 PandarXT-16. 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 Laser emitters and receivers are attached to a motor that rotates horizontally. Figure 1.3 Coordinate System (Isometric Figure 1.2 Partial Cross-Sectional Diagram Figure 1.4 Rotation Direction (Top View) 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 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 Instrument Range 0.05 to 120 m Ingress Protection IP6K7 Range Capability ① 80 m @10% reflectivity (Channels 5 to 12) Dimensions Height: 76.0 mm 50 m @10% (Channels 1 to 4, 13 to 16) Top/Bottom: Φ100.0 / 103.0 mm...
  • Page 16 (Continued) ① Range capability: typical value · Test conditions: 100 klux ambient illuminance, PoD (probability of detection) > 90% ② Range accuracy and precision · May vary with range, temperature, and target reflectivity. · Typical values: the average among Channels 5 to 12, measured outdoors within 0.5 to 70 m, under 30℃ ambient temperature, and with a target reflectivity of 50%.
  • Page 17 ■ Range Accuracy Definition: the average of the differences between multiple measurements and the target's true distance, measured by a single channel Conditions: 30℃ ambient temperature, outdoors; Channels 5 to 12 · Solid dot: average among channels · Error bar: best and worst channels Accuracy @50% Reflectivity ·...
  • Page 18 ■ Range Precision Definition: the standard deviation among multiple measurements, measured by a single channel Conditions: 30℃ ambient temperature, outdoors; Channels 5 to 12 Precision @50% Reflectivity Random Sample 1 Random Sample 2 Random Sample 3 0.05 Target Distance (m) Precision @10% Reflectivity Random Sample 1 Random Sample 2...

  • Page 19: Setup

    2 Setup Mechanical Installation Figure 2.1 Front View (Unit: mm) -17-...
  • Page 20 Figure 2.2 Bottom View (Unit: mm) -18-...
  • Page 21 2.1.1 Recommended Installation Figure 2.3 Recommended Installation -19-...

  • Page 22: Interfaces

    Interfaces Lemo part number: EEG.0T.309.CLN (female socket, on the lidar) From the eye to the interface Figure 2.4 Lemo Connector (Female Socket) -20-...
  • Page 23 2.2.1 Pin Description Pin # Signal Wire Color Voltage Wire Gauge Pin # Signal Wire Color Voltage Wire Gauge GPS PPS BLACK 3.3 to 12 V 28 AWG Ethernet TX- GREEN -1 to 1 V 28 AWG GPS DATA PURPLE -13 to +13 V 28 AWG Ethernet RX+...
  • Page 24 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 25 · 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 26: Connection Box (Optional)

    Connection Box (Optional) Users may connect the lidar directly or using the connection box. Lemo part number: FGG.0T.309.CLAC50Z (male plug, on the connection box) Figure 2.6 Connection Box (Unit: mm) -24-...
  • Page 27 2.3.1 Connection Box Interfaces Figure 2.7 Connection Box (Front) Figure 2.8 Connection Box (Back) Port # Port Name Description Standard Ethernet Port RJ45, 100 Mbps Ethernet Power Port Connects to a DC power adapter GPS Port Connector part number: JST SM06B-SRSS-TB Recommended connector for the external GPS module: JST SHR-06V-S-B Voltage standard: RS232 Baud rate: 9600 bps...
  • Page 28 2.3.2 Connection Figure 2.9 Connection Box (Connection with GPS) -26-...
  • Page 29 Figure 2.10 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. Each data packet consists of an Ethernet header and UDP data. Unless otherwise specified, all the multi-byte fields are unsigned values in little endian format. Figure 3.1 Data Structure -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 255.255.255.255 (broadcast). Point Cloud Ethernet Header: 42 bytes Field Bytes Description Ethernet II MAC 12 bytes Destination: broadcast (0xFF: 0xFF: 0xFF: 0xFF: 0xFF: 0xFF) Source: (xx:xx:xx:xx:xx:xx)
  • Page 33 3.1.2 UDP Data ■ Pre-Header: 6 bytes Field Bytes Description 0xEE SOP (start of packet) 0xFF SOP (start of packet) Protocol Version Major Main class of the point cloud UDP packet structure Currently 0x06 Protocol Version Minor Subclass of the point cloud UDP packet structure Currently 0x01 Reserved ■...
  • Page 34 ■ Body: 528 bytes (8 blocks) Block 1 Block 2 Block 3 Block 8 Azimuth 1 Azimuth 2 Azimuth 3 Azimuth 8 Channel 1 Channel 1 Channel 1 Channel 1 Channel 2 Channel 2 Channel 2 Channel 2 Channel 16 Channel 16 Channel 16 Channel 16...
  • Page 35 Three single-return modes and three dual-return modes are available, see the Return Mode field in the Tail of Point Cloud UDP Data. In a dual-return mode, · the measurements from each round of firing are stored in two adjacent blocks (see table below); ·...
  • Page 36 Field Bytes Description The absolute UTC time of this data packet, accurate to the second. Date & Time Each Byte Range Year (current year minus 1900) ≥70 Month 1 to 12 1 to 31 Hour 0 to 23 Minute 0 to 59 Second 0 to 59 Timestamp...
  • 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 7°, 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 GPS Data Packets are triggered every second. Before NMEA messages are available from the external GPS module Each rising edge of the lidar's internal 1 Hz signal triggers a GPS Data Packet. The time and date in the GPS Data Packets are unreal, starting from the UTC time 20 05 20 00 00 00 (year, month, day, hour, minute, second) and increasing with the internal 1 Hz signal.
  • 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 3.3 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 PandarXT-16 XTXXXXXXXXXXXXXX MAC Address XX:XX:XX:XX:XX:XX Software Version 0.1.16 Sensor Firmware Version 1.2.14 Controller Firmware Version 1.1.10 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 Last and Strongest Sync Angle □ Trigger Method Angle Based Clock Source GPS Mode GPRMC...
  • Page 49 (Continued) Interstitial Points 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 Parameter Options Description Trigger Method Angle-Based (default) The way laser firings are triggered. Time-Based Angle-based Lasers fire every 0.09° at 5 Hz, 0.18° at 10 Hz, or 0.36° at 20 Hz.. Time-based Lasers fire every 50 μs Interstitial Points OFF (default) To mitigate the interstitial points.
  • 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) Require PPS Lock ON (default) When this setting is ON, PPS must be locked (in addition to NMEA being locked) when updating the lidar's Date &...
  • Page 55 ■ With PTP Selected The lidar does not output GPS Data Packets. Parameter Options Description Profile 1588v2 (default) IEEE timing and synchronization standard 802.1AS 802.1AS Automotive Time Offset for Lidar 1 to 100 μs (integer) Specify the upper limit of the absolute offset between Slave and Master when the lidar Lock Default: 1 is in PTP Locked status.

  • 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 Multi-section FOV Input multiple (≤5) sets of Start Angles and End Angles to form multiple continuous angle ranges. These ranges apply to all channels. -56-...

  • Page 59: Operation Statistics

    Operation Statistics These operating parameters are shown in real time: Start-Up Counts Internal Temperature 32.10℃ 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 60: 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 61: Communication Protocol

    5 Communication Protocol To receive Hesai lidar's PTC (Pandar TCP Commands) and HTTP API Protocols, please contact Hesai technical support. -59-...

  • Page 62: 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 63 (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 64: 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 65 · PC's firewall is disabled, or that PandarView is added to the firewall exceptions 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 66 Symptoms Points to Check Verify that · horizontal FOV is properly set on the Azimuth FOV page of web control · motor's spin rate is steady on the Home page of web control · Lidar's internal temperature is between -20℃ and 95℃ on the Operation Statistics page of web control ·...
  • Page 67 · 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 68: Appendix I Channel Distribution

    Appendix I Channel Distribution The Vertical Angles (Elevation) in the table below are design values. The accurate values are in this lidar's unit's calibration file, see Section 1.3 (Channel Distribution) and Section 3.1.3 (Point Cloud Data Analysis). Channel # Horizontal Angle Offset Vertical Angle Instrument Range Range (in meters)

  • Page 69: 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). -67-...
  • Page 70 1) GPS as the Clock Source · The lidar connects to a third-party GPS module to obtain the PPS (pulse-per-second) signal and the NMEA sentence ($GPRMC or $GPGGA). · Users may select either $GPRMC or $GPGGA sentences, see Section 4.2 (Web Control – Settings). ·...
  • Page 71 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 72 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 73 ■ 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 74 ■ Start Time of Each Block Assuming that the absolute time of a Point Cloud Data Packet is t0, the start time of each block (i.e., the time when the first firing starts) can be calculated. Single Return Mode Block Start Time (μs) Block 8 t0 + 5.632...

  • Page 75: Appendix Iii Power Supply Requirements

    Appendix III Power Supply Requirements ■ Input Voltage To ensure that the input voltage at the lidar's Lemo connector is 9~36 V DC, please check the specifications of the power source and the voltage drop over cables. We recommend using 26 AWG cables, which is the thickest wire gauge supported by the lidar ·...
  • Page 76 When the lidar's input voltage approaches 36 V, make sure there is no additional overshoot in the external power system. Even a short period of overvoltage can cause irreversible damage to the lidar. ■ Power Consumption The lidar's peak power consumption is below 30 W in all operating conditions. ·...

  • Page 77: 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) -75-...
  • Page 78 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) 12.91 19.2 34.99 2.89 13.23 19.59 36.12 4.08 13.54 37.25 13.84 20.43 38.37 5.77 14.14 20.87 39.5 6.45 14.43...
  • Page 79 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) 57.56 80.14 102.71 125.28 58.69 81.26 103.84 126.41 59.82 82.39 104.97 127.54 60.95 83.52 106.09 128.67 62.08 84.65 107.22...
  • Page 80 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) 147.86 170.43 215.58 148.98 171.56 194.13 216.7 150.11 172.69 195.26 217.83 151.24 173.81 196.39 218.96 152.37 174.94 197.52 220.09...
  • Page 81 Nonlinear Reflectivity Mapping (Continued) Reflectivity Index Reflectivity (0~255) 238.15 239.28 240.41 241.53 242.66 243.79 244.92 246.05 247.18 248.31 249.44 250.56 251.69 252.82 253.95 255.08 -79-...

  • Page 82: 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 83 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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