"There has recently been a keen interest in developing LiDAR systems using SPAD sensors. This has led to a variety of implementations in pixel combining techniques and TDC architectures for such sensors. This paper presents a comparison of these approaches and demonstrates a technique capable of extending the range of LiDAR systems with improved resilience to background conditions. A LiDAR system emulator using a reconfigurable SPAD array and FPGA interface is used to compare these different techniques. A Monte Carlo simulation model leveraging synthetic 3D data is presented to visualize the sensor performance on realistic automotive LiDAR scenes."
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