Product Principle; Coordinate Mapping; Reflectivity Interpretation; Return Modes - RoboSense Ruby Plus User Manual

simultaneously due to potential packet loss issues caused by large data volume.
2.5

Product Principle

2.5.1

Coordinate Mapping

As the LiDAR data packet contains only horizontal rotation angles and distance
parameters, to present a three-dimensional point cloud, the polar coordinates (angle
and distance) are transformed into Cartesian coordinates (x, y, z) according to the
following equations:
where r is the measured distance, ω is the laser's vertical angle, α is the laser's
horizontal rotation angle, R is the plane radius from the optical center to the origin,
and x, y, z are the coordinates projected onto the Cartesian X, Y, Z axes.
2.5.2

Reflectivity Interpretation

Ruby Plus LiDAR provides reflectivity information to characterize the reflectance of
measured objects. In Ruby Plus data, the calibrated reflectivity range is from 1 to 255.
2.5.3

Return Modes

2.5.3.1 Return Modes Principle
Ruby Plus supports multiple return modes, including Strongest Return, Last Return,
First Return, and Dual Return modes. In the Dual Return mode, detailed information
of the target object is displayed, and the data volume is twice that of the Single Return
mode.
Ruby Plus analyzes multiple return values received and outputs the strongest, last, or
first return value based on user selection, or outputs dual return values. In the
Strongest Return mode, only the strongest reflected return value is output; in the Last
Return mode, only the last detected return in the time domain is output.
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� = � ��� ( �) ��� ( �) + R ��� ( �);
� = � ��� ( �) ��� ( �) + R ��� ( �);
� = � ��� ( �);
Ruby Plus User Guide