In Figure 10. Unreliable setup, the mean of the measured distances from the two zones is significantly different
and the minimum measured distance is greater than the distance between the sensor and the floor (2600 mm)
minus 700 mm. This indicates an unreliable setup.
Figure 10. Unreliable setup
The "reliable" setup is considered good because the sensor detects only the floor in the two FoVs. Consequently,
the verticality of the FoV is ensured. However, the tracking area must not be too narrow. In situations where the
verticality cannot be fully ensured, or when the FoVs are narrow, it is advised to alternatively enable N*M SPADs
as follows:
• N to be within the interval [4, 8] as described above and enabled SPADs should be centered
• M to be within the interval [8, 16] and the SPADs to remain centered for a narrow but non vertical setup. If
the verticality of the FoV cannot be ensured, the SPADs do not have to be centered.
Floor detection reliability can be checked by running a trimming procedure to adjust the width of the back and
front FoVs, by enabling the relevant SPADs. Analysis of the extracted histograms can help in detecting the SPADs
belonging to the parts of the FoVs that do not range on the floor and should never be enabled. Note that the
smaller the number of lines of SPADs used for this trimming, the larger the number of histogram values that have
to be computed.
UM2600
Ranging on the floor
UM2600 - Rev 1
page 10/14
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