User manual

Figure 17: Measurement smoothing example

The red line represents the true target distance; the blue curve corresponds to the

target distance measured by the module without smoothing, while the green curve

is the smoothed measurements. One could notice the measurement precision

(standard deviation) is dramatically improved by the smoothing algorithm.

NOTE: The smoothing algorithm is recommended for applications that need highly

precise measurements of slowly moving objects. For application that tracks

quickly moving objects, it is advised to decrease the value of the smoothing

parameter or to disable the smoothing algorithm.

Light Source Control

There is a total of 5 light source power levels. Their approximate relative power is

evenly distributed between 0 through 100%.

The change delay defines the number of measurements required before allowing the

LeddarVu module to increase or decrease by one the light source power level. For

example, with the same change delay, the maximum rate of change (per second) of

the light source power will two times higher at 12.5 Hz than at 6.25 Hz.

NOTE: Since the change delay parameter is a number of measurements, the delay

will vary if the measurement rate is changed (through modification of the

accumulation and oversampling parameters).

0 20 40 60 80 100

14.98

14.99

15.01

15.02

15.03

15.04

15.05

Sample

Distance (m)

Estimated

Measured

True