Manual

Leddar™One Sensing Module 11
fit specific application requirements such as detection range, beam and spatial
resolution.
1.3. Signal Processing Algorithm Overview
The conceptual overview of the sensor signal processing algorithm is shown
in Figure 4:
Figure 4: Leddar™ Signal Processing Algorithm Overview
1.3.1. Signal Acquisition
The signal acquisition module samples the signal of the photodiode element
using a patented oversampling and accumulation strategy to maximize the
signal resolution and the signal to noise ratio. It provides the light intensity
received by the sensor as a function of the time (corresponding to distance
knowing the speed of light) also called full-waveform signal. This full-
waveform signal allows the use of advanced signal processing techniques to
extract the distances of the objects and other useful information about the
scene.
1.3.2. Static Noise Removal
The static noise removal algorithm removes, as its name indicates, the static
noise in the full-waveform signal induced by undesirable light reflections due
to sensor enclosure or electromagnetic interferences. This algorithm increases
drastically the distance measurement accuracy and linearity. The static noise
shape is learned during a calibration procedure during which the waveform of
Pulse Detector
Time-of-
Flight Raw
Data
Temperature
Compensation
Smoothing
Algorithm
Calibration Offsets
Sensor
Temperature Data
Echoes
Signal Acquisition Thresholding
Led Intensity,
Oversampling,
Accumulation and
Number of Sample
Points
Smoothing
Parameters
Static Noise
Removal
Static Noise Template
Learned during the
Calibration Process
Accurate and
Precise Distance
Measurements
Threshold Table
Saturation
Compensation
Pulse Classifier
Saturated
Echoes
Normal
Echoes
Echoes with Significant
Magnitude
Distance Offsets from
Calibration Process
Pulse of Light
Automatic Led
Intensity Control