Velodyne HDL-64E S3 - Intensity Compensation and Calibration; Calibration Window Parameters

HDL-64E S3
High Definition LiDAR Sensor
Page 45
Velodyne LiDAR, Inc.
©
2019
63-HDL64ES3 REV K
Intensity Compensation vs Distance
Intensity compensation is done in the software for different channels by changing a parameter in the
calibration window until the measurement
Here K is slope getting from cal data. Intensity gets to max at focaldistance for different channel and it’s
from cal data too.
Calibration Window
New intensity parameter added in calibration window
. focal distance: At this distance, intensity gets to max. The focal distance is different from
laser to laser. On the upper block, it averages 1500cm. On the lower block, it averages
800cm.
. focal slope: Controls intensity compensation. Min and Max Intensity are used to scale and
offset intensity.