SJ-GU-CE30-C-03 A01 CE30-C Solid State Array LiDAR Specification Benewake (Beijing) Co.
SJ-GU-CE30-C-03 A01 Table of Contents 1. 2. 3. 4. Product Overview.................................................................................................................................................. 3 Principle of Ranging ............................................................................................................................................. 4 Output Performance ...............................................................................................................
SJ-GU-CE30-C-03 A01 1.
SJ-GU-CE30-C-03 A01 FoV’s center: 0.1-4m Detection Range4 FoV’s edge: 0.1-2m Accuracy5 ≤6cm Repeatability (1σ)6 ≤4cm Error Distribution ≤3cm：≥53% ≤5cm：≥85% ≤8cm：≥97% ≤10cm: ≥98% Ambient Light Suppression 7 60klux Data Interface TCP Operating Temperature 0-50℃ Storage Temperature -30~70℃ Supply Voltage DC 12V±1V (≥2A) Power Consumption ≤6W Dimensions 79*47*50mm Enclosure Rating IP65 Eye Safety Class EN 62471 Exempt Weight 219g 2.
SJ-GU-CE30-C-03 A01 Figure 1 Schematic of CE30-C detecting range Figure 2 Illustration of CE30-C detection zone. Compared with single-line LiDAR, CE30 has a wider vertical FoV and therefore the obstacles can be better recognized. 3. Output Performance By default, CE30-C outputs a depth image and corresponding intensity data for each pixel in each measurement.
SJ-GU-CE30-C-03 A01 this part of data and set the corresponding pixel output to zero, forming the depth map in Figure 3. This processing causes the phenomenon that some object edges have no data, and leads to irregularities on the edges of detected objects. Depth data measurement also use high dynamic range (HDR) technology to expand the measurement range. In the CE30-C, the exposure time of each adjacent two pixel rows is set to different period.
SJ-GU-CE30-C-03 A01 4.2. Detection range The maximum detectable range is different in different area of field of view. The detectable area of a 90% reflectivity object is shown in Figure 5. Figure 5 Detectable area in front of CE30-C 4.3. Reflectivity of Various Materials Table 2 Reflectivity of various materials Page 7 No. Material Reflectivity 1 Black foam rubber 2.
SJ-GU-CE30-C-03 A01 9 Newspaper 55% 10 Translucent plastic bottles 62% 11 Cardboard 68% 12 Clean pine 70% 13 Opaque white plastic 87% 14 White cardboard, white wall 90% 15 Kodak standard whiteboard 100% 16 Unpolished white metal surface 130% 17 Polished white metal surface 150% 18 Stainless steel 200% 19 Reflective panels, reflective stickers >300% 5. Accuracy Description 5.1.
Repeatability of the Center Field of View 3.5 3.0 2.5 2.0 1.5 1.0 0.5 0.0 35 45 55 65 75 85 95 105 115 125 135 145 155 165 175 185 195 205 215 225 235 245 255 265 275 285 295 305 315 325 335 345 355 365 375 385 395 405 Standaard Deviation (cm) SJ-GU-CE30-C-03 A01 Distance (cm) Figure 7 Repeatability if the center 24*24 pixels area 5.3. Edge of the Field of View Difference (cm) The edge area of the field of view is used to detect a white board of 90% reflectivity.
SJ-GU-CE30-C-03 A01 5.4. Accuracy Spatial Distribution To check the accuracy spatial distribution, 50 frames of data are recorded while using CE30-C to detect white wall (90% reflectivity) in the distance of 100cm. The error between the average value of each pixel column and the true distance is used to stand for accuracy, and the standard deviation of the average value of each pixel column between frames is used to stand for repeatability. 6.0 5.0 4.0 3.0 2.0 1.0 0.0 -1.0 -2.
SJ-GU-CE30-C-03 A01 Outdoor Accuracy of the Center Field of View 10.0 Difference (cm) 5.0 0.0 -5.0 45 55 65 75 85 95 105 115 125 135 145 155 165 175 185 195 205 215 225 235 245 255 265 275 285 295 305 -10.0 -15.0 -20.0 -25.0 -30.0 -35.0 Distance (cm) Figure 12 Outdoor accuracy of the center area of the field of view Standard Deviation (cm) Outdoor Repeatability of the Center Field of View 10.0 9.0 8.0 7.0 6.0 5.0 4.0 3.0 2.0 1.0 0.
Standard Deviation (cm) SJ-GU-CE30-C-03 A01 8.0 Outdoor Repeatability of the Edge 6.0 4.0 2.0 0.0 15 25 35 45 55 65 75 85 95 105 115 125 135 145 155 165 175 185 195 205 215 225 235 245 255 265 275 285 295 305 Distance (cm) Figure 15 Outdoor repeatability of the edge of the field of view 7. Interference Between CE30-Cs 7.1. Interference When Face to Face When two CE30-Cs detect face to face, interface happens because all CE30-Cs’ detection light has the same wavelength.
SJ-GU-CE30-C-03 A01 Figure 16 CE30-C outline drawing 9. Aerial Socket Interface Description Female: Ethernet connector, aerial socket with 8 mm diameter. Male: Power supply/CANBUS connector, aerial socket with 8 mm diameter.
SJ-GU-CE30-C-03 A01 Pin Number Description 1 ETH_RX_P 2 ETH_RX_N 3 ETH_TX_P 4 ETH_TX_N Figure 19 Ethernet socket pin definition 10. Output Interface Ethernet interface is used in this LiDAR with standard TCP protocol. In the mainstream operating systems, no drive is demanded. 11. Software Description 11.1.SDK Description The LiDAR initialization and start-up, data acquisition and LiDAR turn-off can be achieved through SDK.
SJ-GU-CE30-C-03 A01 Figure 20 Photograph taken by the wide-angle lens (upper) and its calibrated result (bottom) In the CE30-C, the LiDAR’s direct output has an image resolution of 320 * 24 and the field of view of 132*9 °. After the calibration of SDK, the resolution has to be set to 660 * 24 to retain the field of view of 132 * 9 °.
SJ-GU-CE30-C-03 A01 11.3.SDK Output Data Figure 21 Illustration of data sequence A frame of depth data is outputted from the SDK with the resolution that have been set. The data is arranged in form of one-dimensional array. The sequence is from left to right and top to bottom, and the pixel in the upper left corner of the image is the origin point.
