RS-LiDAR-32 User Manual
7 Key characteristics
7.1 Return Mode
7.1.1 Return Mode Principle
RS-LiDAR-32 supports multiple return modes: Strongest return, Last return, and Dual return modes.
When set to dual return mode, the details of the target will be enhanced, and the number of point is
twice than that of a single return.
Due to the divergence of the beam, it is possible to generate multiple laser returns with one laser
emission. When the laser pulse is emitted, its light spot gradually becomes larger. Suppose a light spot
is large enough to shot multiple targets and produce multiple returns. Generally, the farther away the
target is, the weaker it will be at the receiver, while the high reflective surface may be the opposite.
RS-LiDAR-32 analyzes the received multiple return values and outputs the strongest, last or
simultaneous output of these two return values depending on the setting. If set to the strongest return
mode, only the strongest reflected return value is output. Similarly, if the setting is the last return mode,
only the last return value is output; if set to double return mode, the strongest and last return information
is output simultaneously.
Note: Only when the distance between two objects is greater than 1 meter, the LiDAR could distinguish these
two returns.
7.1.2 The Strongest Return
When the LiDAR beam hits only one object, there is only the strongest return at this time.
7.1.3 Strongest, Last and Dual Returns
When the laser pulse hit two objects at different distances, there will be two return wave, then it will lead
two situations:
(1) When the strongest return is not the last return, return the strongest and last return;
(2) When the strongest return is also the last return, return the strongest return and the second
strongest return.
7.1.4 Return Mode Flag
The factory default setting for RS-LiDAR-32 is the Strongest Return mode. If you need to change the
settings, please refer to Figure C-14 in Appendix C of this user manual. The 300th Byte in the DIFOP is
the flag of the return mode, which corresponds to the following Table 10:
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