User manual

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Table 10: Acquisition setting description
Parameter
Description
Effect
Accumulation
Number of
accumulations
Higher values enhance the range, and reduce the measurement rate and
noise.
Oversampling
Number of oversampling
cycles
Higher values enhance the accuracy/precision/resolution and reduce the
measurement rate.
Points
Number of base sample
points
Determines the maximum detection range.
Threshold
Offset
Modification to the
amplitude threshold
Higher values decrease the sensitivity and reduce the range.
Smoothing
Object smoothing
algorithm
Smooths the LeddarVu module measurements.
The behavior of the smoothing algorithm can be adjusted by a value
ranging from -16 to 16. Higher values enhance the module precision, but
reduce the module reactivity.
The smoothing algorithm can be deactivated by clearing the Enable check
box.
The measurement smoothing algorithm is advised for application that need
to measure slowly moving objects with a high precision.
The application requiring to quickly track moving objects, the smoothing
should be configured with a value lower than 0 or simply deactivated.
Light Source
Control
Light source power
control options
Selects between manual and automatic power control. In automatic, light
source power is adjusted according to incoming detection amplitudes. The
current LED power level is visible in the Device State window (View
menu, State command).
Change Delay
(Channel and
Frame)
Minimum delay between
power changes
Smaller numbers speed up the response time of the light source power
adjustment.
Object
demerging
Discrimination of objects
close to each other
Eases the discrimination of multiple objects in the same segment.
Object demerging is only available for measurement rates under 5.0 Hz.
The number of merged pulses that can be processed in each frame is also
limited. A status field is available in the device state window (Leddar
TM
Configurator) indicating if the sensor processes all merged pulses.
The measurement of demerged objects tends to be less precise than for
usual detections
Crosstalk
Removal
Inter-segment
interference noise
removal
Crosstalk is a phenomenon inherent to all multiple segments time-of-flight
sensors. It causes a degradation of the distance measurement accuracy of
an object when one or more objects with significantly higher reflectivity
are detected in other segments at a similar distance.
This option enables an algorithm to compensate the degradation due to
crosstalk.
This algorithm increases the computational load of the LeddarVu module
microcontroller. It is recommended to disable the crosstalk removal if the
module is configured to run at rates higher than 50 Hz.