Benewake (Beijing) Co. Ltd.
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2.3 Repeatability
TF-Luna's ranging accuracy is positively correlated with the strength value (amp) and negatively
correlated with the output frame rate (frequency). The tables below show the standard deviation (STD)
using 100Hz output rate. These values are for reference only, various testing environments may give
different results.
Table 1 STD Amp correlation
Amp
100 200 400 1000 ≥2000
STD
3cm 3cm 2cm 1cm 0.5cm
Table 2 STD Dist correlation with 90% diffuse reflectance object
Dist
200cm 400cm 600cm 800cm
Std
0.5cm 1cm 1.5cm 2cm
2.4 Ranging characteristics
TF-Luna minimize the impact of external environment on ranging performance by optimizing light
path and algorithm.
TF-Luna’s ranging dead zone is 20 cm or closer. Any distance output less than 20 cm is unreliable. The
operating range of black and white targets are different:
The operating range of TF-Luna detecting black target with 10% reflectivity is 0.2-2.5m; The operating
range of TF-Luna detecting white target with 90% reflectivity is 0.2-8m.
The ranging data are reliable only if the reflection surface fully covers the light spot, so the diameter
of the object must at least the same as the diameter of the light spot, and that diameter depends on FOV
of TF-Luna. The minimum diameter of the object surface has a formula:
d = 2 ∗ D ∙ tanβ
In the formula, d represents the minimum diameter, D is the distance of the object, and β is the half
FOV of TF-Luna. Common values are shown in table 4 for your convenience:
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