SICK Ranger3

If the laser peak is narrow, the selected WAM size should be small. If the laser peak is
wide, the selected WAM size should be larger.
0
0 5 10 15 20 25 30
WAM size
50
100
150
200
250
Laser peak position
0
0 5 10 15 20 25 30
WAM size
50
100
150
200
250
Laser peak position
1
1
3 3
2
2
Figure 22: Laser peak width and corresponding WAM size.
1
Laser peak position
2
Laser peak width
3
WAM size
Setting Description
Small Size 7 pixels, peak width 2-4 pixels.
Normal Size 15 pixels, peak width 3-8 pixels
Large Size 31 pixels, peak width 7-15 pixels
8.7.3 Detection threshold
The parameter DetectionThreshold defines the minimum reflectance signal that can be
detected as a peak position. Ideally, this parameter is set to a value that is higher than
the amplitude of the noise, but still low enough to detect the laser signal, see the figure
below. If DetectionThreshold is too low, noise will be registered as laser peaks. This will
result in bad image quality. If DetectionThreshold is too high, not all laser peaks will be
registered. This will result in an image where some parts are missing.
Intensity 1
ROI start 4 ROI end 3
Sensor row 2
DetectionThreshold
6
6
5
Figure 23: Analog signal with noise
1
Intensity
2
Sensor row
3
ROI end
4
ROI start
5
Detected peak
6
Not detected peaks
8 CONFIGURATION
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O P E R A T I N G I N S T R U C T I O N S | Ranger3 8020774/1D7Q/2022-03 | SICK
Subject to change without notice