{"id":6301,"date":"2025-10-11T14:09:49","date_gmt":"2025-10-11T06:09:49","guid":{"rendered":"https:\/\/nullthought.net\/?p=6301"},"modified":"2025-10-11T14:09:51","modified_gmt":"2025-10-11T06:09:51","slug":"%e6%b5%85%e8%b0%88lidarlight-detection-and-ranging","status":"publish","type":"post","link":"https:\/\/nullthought.net\/?p=6301","title":{"rendered":"\u6d45\u8c08LiDAR(Light Detection and Ranging)"},"content":{"rendered":"\n<h5 class=\"wp-block-heading\">\u4e00\u3001LiDAR \u7684\u57fa\u672c\u539f\u7406<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6838\u5fc3\u601d\u8def<\/strong>\uff1a\u53d1\u51fa\u6fc0\u5149\u8109\u51b2\uff08\u6216\u8fde\u7eed\u6ce2\uff09\uff0c\u63a5\u6536\u4ece\u76ee\u6807\u53cd\u5c04\u56de\u6765\u7684\u5149\uff0c\u6d4b\u91cf\u98de\u884c\u65f6\u95f4\u6216\u76f8\u4f4d\/\u9891\u7387\u53d8\u5316\uff0c\u8ba1\u7b97\u8ddd\u79bb\u5e76\u91cd\u5efa\u4e09\u7ef4\u70b9\u4e91\u3002<\/li>\n\n\n\n<li><strong>\u4e3b\u6d41\u6d4b\u8ddd\u673a\u7406<\/strong>\n<ol class=\"wp-block-list\">\n<li><strong>ToF \u8109\u51b2\u5f0f<\/strong>\uff08Time of Flight\uff09\uff1a\u6d4b\u91cf\u5f80\u8fd4\u65f6\u95f4 \u0394t\uff0c\u8ddd\u79bb R=c\u22c5\u0394t\/2\u3002\u4f18\u70b9\u662f\u5b9e\u73b0\u6210\u719f\u3001\u8fdc\u8ddd\u80fd\u529b\u5f3a\uff1b\u7f3a\u70b9\u662f\u6297\u5f3a\u5149\/\u591a\u5f84\u9700\u8981\u8f83\u5f3a\u7684\u4fe1\u566a\u6bd4\u548c\u540e\u7aef\u7b97\u6cd5\u3002<\/li>\n\n\n\n<li><strong>\u76f8\u4f4d\u5f0f ToF<\/strong>\uff08AMCW\uff09\uff1a\u5bf9\u8fde\u7eed\u8c03\u5236\u5149\u7684\u76f8\u4f4d\u5dee\u8fdb\u884c\u6d4b\u8ddd\uff0c\u8fd1\u4e2d\u8ddd\u9ad8\u7cbe\u5ea6\u3001\u6297\u566a\u597d\uff0c\u4f46\u8fdc\u8ddd\u80fd\u91cf\u9884\u7b97\u66f4\u82db\u523b\u3002<\/li>\n\n\n\n<li><strong>FMCW<\/strong>\uff08\u8c03\u9891\u8fde\u7eed\u6ce2\uff09\uff1a\u540c\u65f6\u5f97\u5230<strong>\u8ddd\u79bb\u4e0e\u5f84\u5411\u901f\u5ea6<\/strong>\uff08\u591a\u666e\u52d2\uff09\uff0c\u672c\u5f81\u6297\u5e72\u6270\u5f3a\u3001\u5bf9\u9633\u5149\u548c\u540c\u9891\u5e72\u6270\u9c81\u68d2\uff0c\u4f46\u5668\u4ef6\u4e0e\u7cfb\u7edf\u590d\u6742\u5ea6\u9ad8\u3001\u4ea7\u4e1a\u5316\u4ecd\u5728\u52a0\u901f\u671f\u3002<\/li>\n\n\n\n<li><strong>Flash\/\u9635\u5217\u5f0f<\/strong>\uff1a\u4e00\u6b21\u7167\u4eae\u4e00\u4e2a\u89c6\u573a\uff0c\u7528\u4e8c\u7ef4\u9635\u5217\u63a2\u6d4b\u5668\u5e76\u884c\u8bfb\u51fa\uff0c\u901f\u5ea6\u5feb\u3001\u65e0\u626b\u63cf\u673a\u6784\uff0c\u5e38\u7528\u4e8e\u8fd1\u8ddd\/\u5c0f\u578b\u5316\u3002<\/li>\n<\/ol>\n<\/li>\n\n\n\n<li><strong>\u7b80\u5316\u7684\u201c\u6fc0\u5149\u96f7\u8fbe\u65b9\u7a0b\u201d<\/strong>\uff08\u8109\u51b2\u4f53\u5236\u601d\u8def\uff09\uff1a\u56de\u6ce2\u5149\u5b50\u6570\u4e0e\u53d1\u5c04\u80fd\u91cf\u3001\u76ee\u6807\u53cd\u5c04\u7387\u3001\u51e0\u4f55\u6269\u6563\u3001\u901a\u9053\u635f\u8017\u548c\u63a5\u6536\u53e3\u5f84\/\u6548\u7387\u76f8\u5173\u3002\u8fdc\u8ddd\u6d4b\u91cf\u672c\u8d28\u4e0a\u662f\u201c<strong>\u80fd\u91cf\u9884\u7b97<\/strong> + <strong>\u566a\u58f0\u6291\u5236<\/strong>\u201d\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e8c\u3001\u5173\u952e\u5668\u4ef6\u4e0e\u7cfb\u7edf\u6784\u578b<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u5149\u6e90\uff08\u6fc0\u5149\u5668\uff09<\/strong>\n<ul class=\"wp-block-list\">\n<li><strong>905 nm \u4e8c\u6781\u7ba1\u6fc0\u5149<\/strong>\uff1a\u6210\u672c\u4f4e\u3001\u6210\u719f\uff0c\u6c11\u7528\u5e38\u89c1\uff1b\u773c\u5b89\u7b49\u7ea7\u53d7\u9650\uff0c\u8fdc\u8ddd\u901a\u5e38\u9700\u66f4\u5927\u53d1\u5c04\u5b54\u5f84\u4e0e\u826f\u597d\u6574\u5f62\u3002<\/li>\n\n\n\n<li><strong>1550 nm \u5149\u7ea4\/\u96c6\u6210\u6fc0\u5149\u5668<\/strong>\uff1a\u773c\u775b\u5bf9\u8be5\u6ce2\u6bb5\u900f\u8fc7\u7387\u4f4e\uff0c<strong>\u66f4\u6613\u8fbe\u66f4\u9ad8\u5cf0\u503c\u529f\u7387<\/strong>\u4e14\u4ecd\u6ee1\u8db3 IEC 60825 \u773c\u5b89\u8981\u6c42\uff0c\u5229\u4e8e\u8fdc\u8ddd\u4e0e\u66f4\u9ad8\u70b9\u9891\uff1b\u6210\u672c\u4e0e\u96c6\u6210\u5ea6\u5386\u53f2\u4e0a\u66f4\u9ad8\uff0c\u4f46\u5728\u4e0b\u964d\u3002<\/li>\n\n\n\n<li><strong>532 nm \u7eff\u5149<\/strong>\uff1a\u5e38\u7528\u4e8e<strong>\u6d45\u6c34\u6d4b\u6df1<\/strong>\uff08\u6c34\u5bf9\u7eff\u5149\u900f\u8fc7\u8f83\u597d\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u63a2\u6d4b\u5668<\/strong>\n<ul class=\"wp-block-list\">\n<li><strong>APD\uff08\u96ea\u5d29\u5149\u7535\u4e8c\u6781\u7ba1\uff09<\/strong>\uff1a\u6a21\u62df\u8bfb\u51fa\uff0c\u6210\u719f\u53ef\u9760\uff1b\u4e0e 905 nm\/1550 nm \u5339\u914d\u54c1\u7c7b\u4e30\u5bcc\u3002<\/li>\n\n\n\n<li><strong>SPAD\uff08\u5355\u5149\u5b50\u96ea\u5d29\u4e8c\u6781\u7ba1\uff09<\/strong>\uff1a\u6570\u5b57\u5316\u8ba1\u6570\uff0c\u6781\u9ad8\u7075\u654f\u5ea6\uff0c\u9002\u5408\u5f31\u56de\u6ce2\/Flash\uff1b\u65f6\u95f4\u6296\u52a8\u5c0f\uff0c\u9700\u5806\u9635\u5217\u4e0e\u65f6\u5e8f\u7edf\u8ba1\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u626b\u63cf\u4e0e\u6210\u50cf\u65b9\u5f0f<\/strong>\n<ul class=\"wp-block-list\">\n<li><strong>\u673a\u68b0\u65cb\u8f6c\/\u591a\u7ebf\u675f<\/strong>\uff1a\u89c6\u573a\u5927\u3001\u91cf\u4ea7\u6210\u719f\uff08\u8f66\u8f7d\u65e9\u671f\u4e3b\u6d41\uff09\u3002<\/li>\n\n\n\n<li><strong>MEMS \u5fae\u632f\u955c<\/strong>\uff1a\u5c0f\u578b\u5316\u3001\u6210\u672c\u66f4\u4f4e\u3001\u5e27\u7387\u9ad8\uff0c\u9700\u5173\u6ce8\u6297\u9707\u4e0e\u955c\u9762\u53e3\u5f84\u3002<\/li>\n\n\n\n<li><strong>OPA\uff08\u5149\u76f8\u63a7\u9635\uff09\/E-\u626b\u63cf<\/strong>\uff1a\u65e0\u673a\u68b0\u4ef6\uff0c\u6f5c\u5728\u9ad8\u53ef\u9760\uff1b\u5f53\u524d\u6311\u6218\u5728\u4e8e\u51fa\u5c04\u529f\u7387\u3001\u65c1\u74e3\u4e0e\u826f\u7387\u3002<\/li>\n\n\n\n<li><strong>Flash \u9635\u5217<\/strong>\uff1a\u65e0\u626b\u63cf\uff0c\u8fd1\u8ddd\u9ad8\u5e27\u7387\uff1b\u53d7\u9650\u4e8e\u7167\u660e\u80fd\u91cf\u4e0e\u9635\u5217\u826f\u7387\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u63a5\u6536\u94fe\u8def<\/strong>\uff1a\u524d\u7f6e\u653e\u5927\u3001TDC\uff08\u65f6\u95f4\u6570\u5b57\u8f6c\u6362\uff09\u3001ADC\u3001\u65f6\u95f4\u7a97\u53e3\u95e8\u63a7\u3001SNR \u4f30\u8ba1\u4e0e\u591a\u56de\u6ce2\u68c0\u6d4b\u3002<\/li>\n\n\n\n<li><strong>\u65f6\u5e8f\u4e0e\u540c\u6b65<\/strong>\uff1aGPS\/INS\/IMU \u65f6\u949f\u3001PPS \u540c\u6b65\u3001\u591a\u4f20\u611f\u5668\u65f6\u7a7a\u6807\u5b9a\uff08\u5916\u53c2 + \u65f6\u5ef6\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e09\u3001\u6838\u5fc3\u6027\u80fd\u6307\u6807\u600e\u4e48\u8bfb<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6d4b\u8ddd\u8303\u56f4\uff08Rmax\/Rmin\uff09<\/strong>\uff1a\u4e0e\u5cf0\u503c\u529f\u7387\u3001\u6ce2\u957f\u3001\u63a5\u6536\u53e3\u5f84\u3001\u79ef\u5206\u65f6\u95f4\u3001\u76ee\u6807\u53cd\u5c04\u7387\u3001\u5929\u6c14\u900f\u8fc7\u7387\u76f8\u5173\u3002<\/li>\n\n\n\n<li><strong>\u7cbe\u5ea6 vs \u7cbe\u5bc6\u5ea6<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u7cbe\u5ea6\uff08accuracy\uff09= \u8ddd\u79bb\u4f30\u8ba1\u7684\u65e0\u504f\u6027\uff1b<\/li>\n\n\n\n<li>\u7cbe\u5bc6\u5ea6\uff08precision\uff09= \u91cd\u590d\u6d4b\u91cf\u7684\u79bb\u6563\u5ea6\uff08jitter\/\u03c3\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u89d2\u5206\u8fa8\u7387 \/ \u89d2\u5ea6\u6b65\u8fdb<\/strong>\uff1a\u51b3\u5b9a\u70b9\u4e91\u5bc6\u5ea6\u4e0e\u8fb9\u7f18\u8fd8\u539f\uff1b\u4e0e\u626b\u63cf\u65b9\u5f0f\u548c\u675f\u6591\u5927\u5c0f\u76f8\u5173\u3002<\/li>\n\n\n\n<li><strong>\u70b9\u9891\uff08pts\/s\uff09\u4e0e\u5e27\u7387\uff08Hz\uff09<\/strong>\uff1a\u5f71\u54cd\u52a8\u6001\u573a\u666f\u8fd8\u539f\u4e0e\u8bed\u4e49\/SLAM \u7684\u5b9e\u65f6\u6027\u3002<\/li>\n\n\n\n<li><strong>\u53cd\u5c04\u7387\u901a\u9053<\/strong>\uff1a\u7528\u4e8e\u6750\u8d28\/\u5730\u7269\u5206\u5272\u4e0e\u56de\u6ce2\u7f6e\u4fe1\u5ea6\u4f30\u8ba1\u3002<\/li>\n\n\n\n<li><strong>\u591a\u56de\u6ce2\u80fd\u529b<\/strong>\uff1a\u7a7f\u900f\u690d\u88ab\/\u96e8\u96fe\u3001\u8bc6\u522b\u534a\u900f\u660e\u6216\u591a\u5c42\u76ee\u6807\u3002<\/li>\n\n\n\n<li><strong>\u6297\u5e72\u6270<\/strong>\uff1a\u592a\u9633\u76f4\u5c04\u3001\u540c\u884c\u5e72\u6270\u3001\u96e8\u96fe\u96ea\u3001\u810f\u6c61\u4e0e\u70ed\u6f02\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u56db\u3001\u8bef\u5dee\u6765\u6e90\u4e0e\u6807\u5b9a<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6d4b\u8ddd\u8bef\u5dee<\/strong>\uff1a\u6fc0\u5149\u8109\u51b2\u5c55\u5bbd\u3001\u63a5\u6536\u5e26\u5bbd\u3001\u65f6\u95f4\u91cf\u5316\u6b65\u8ddd\uff08TDC LSB\uff09\u3001\u6e29\u6f02\u3001\u95e8\u9650\u8bbe\u5b9a\u3001\u76f8\u4f4d\u975e\u7ebf\u6027\u3002<\/li>\n\n\n\n<li><strong>\u89d2\u5ea6\u8bef\u5dee<\/strong>\uff1a\u626b\u63cf\u5668\u4ef6\u6446\u52a8\u975e\u7ebf\u6027\u3001\u56de\u4e2d\u8bef\u5dee\u3001\u7f16\u7801\u5668\u91cf\u5316\u3001\u88c5\u8c03\u504f\u5fc3\u3002<\/li>\n\n\n\n<li><strong>\u5916\u53c2\/\u65f6\u5ef6<\/strong>\uff1a\u4e0e\u76f8\u673a\/IMU\/GNSS \u7684\u4f4d\u59ff\u5916\u53c2\uff08\u65cb\u8f6c\/\u5e73\u79fb\uff09\u4e0e\u65f6\u95f4\u6233\u504f\u79fb\u3002<\/li>\n\n\n\n<li><strong>\u591a\u5f84\u4e0e\u6f2b\u53cd\u5c04<\/strong>\uff1a\u5c24\u5176\u5ba4\u5185\/\u91d1\u5c5e\u5149\u4eae\u573a\u666f\u3002<\/li>\n\n\n\n<li><strong>\u6807\u5b9a\u6d41\u7a0b\u8981\u70b9<\/strong>\n<ol class=\"wp-block-list\">\n<li><strong>\u5185\u53c2<\/strong>\uff1a\u53d1\u5c04-\u63a5\u6536\u5149\u8f74\u5bf9\u51c6\u3001\u626b\u63cf-\u89d2\u5ea6\u6620\u5c04\u66f2\u7ebf\uff1b<\/li>\n\n\n\n<li><strong>\u5916\u53c2<\/strong>\uff1a\u4e0e\u76f8\u673a\/IMU\u505a\u624b\u773c\/\u677f\u6807\/\u89d2\u70b9\/\u5e73\u9762\u6cd5\u6807\u5b9a\uff1b<\/li>\n\n\n\n<li><strong>\u65f6\u5ef6<\/strong>\uff1a\u57fa\u4e8e\u65f6\u95f4\u540c\u6b65\u8109\u51b2\/\u4e8b\u4ef6\u5bf9\u9f50\uff08e.g. Kalman\/ICP \u65f6\u5e8f\u914d\u51c6\uff09\u3002<\/li>\n<\/ol>\n<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e94\u3001\u70b9\u4e91\u5904\u7406\u4e0e\u7b97\u6cd5\u6808\uff08\u7b80\u8981\uff09<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u9884\u5904\u7406<\/strong>\uff1a\u65f6\u95f4\u540c\u6b65\u3001\u53bb\u7578\u53d8\uff08\u8fd0\u52a8\u8865\u507f\uff09\u3001\u56de\u6ce2\u9009\u62e9\u3001\u5f3a\u5ea6\/\u53cd\u5c04\u7387\u5f52\u4e00\u5316\u3001\u964d\u566a\uff08\u7edf\u8ba1\u6ee4\u6ce2\u3001\u534a\u5f84\u6ee4\u6ce2\uff09\u3002<\/li>\n\n\n\n<li><strong>\u51e0\u4f55\u5efa\u6a21<\/strong>\uff1a\u6cd5\u5411\u4f30\u8ba1\u3001\u5e73\u9762\/\u5706\u67f1\/\u5730\u9762\u5206\u5272\uff08RANSAC\u3001Region Growing\uff09\u3001\u805a\u7c7b\uff08DBSCAN\uff09\u3002<\/li>\n\n\n\n<li><strong>\u914d\u51c6\u4e0e\u5efa\u56fe<\/strong>\uff1aICP\/GICP\/NDT\uff0c\u57fa\u4e8e\u7279\u5f81\uff08FPFH\uff09\u6216\u6df1\u5ea6\u5b66\u4e60\u7684\u5339\u914d\uff1b\u591a\u5e27\u878d\u5408\u3001<strong>SLAM<\/strong>\uff08LOAM\u3001LIO-SAM \u7b49\uff09\u4e0e\u95ed\u73af\u68c0\u6d4b\u3002<\/li>\n\n\n\n<li><strong>\u8bed\u4e49\u4e0e\u68c0\u6d4b<\/strong>\uff1aPointNet\/PointNet++\u3001KPConv\u3001SparseConv\u3001BEV \u53d8\u6362\u7b49\u3002<\/li>\n\n\n\n<li><strong>\u6570\u636e\u683c\u5f0f<\/strong>\uff1aLAS\/LAZ\uff08\u6d4b\u7ed8\uff09\u3001PCD\uff08PCL\uff09\u3001ROS\/ROS2\uff08sensor_msgs\/PointCloud2\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u516d\u3001\u5178\u578b\u5e94\u7528\u573a\u666f<\/h5>\n\n\n\n<ol class=\"wp-block-list\">\n<li><strong>\u81ea\u52a8\u9a7e\u9a76\u4e0e\u8f85\u52a9\u9a7e\u9a76\uff08ADAS\uff09<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u8f66\u5468 360\u00b0 \u611f\u77e5\u3001\u969c\u788d\u7269\u68c0\u6d4b\u3001\u81ea\u7531\u7a7a\u95f4\u3001\u8f66\u9053\/\u8def\u7f18\u8bc6\u522b\u3001\u96e8\u96fe\u9c81\u68d2\u3002FMCW \u53ef\u76f4\u63a5\u6d4b\u5f84\u5411\u901f\u5ea6\uff1b\u591a\u4f20\u611f\u5668\u878d\u5408\uff08\u76f8\u673a\/\u6beb\u7c73\u6ce2\u96f7\u8fbe\/\u8d85\u58f0\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6d4b\u7ed8\/\u6570\u5b57\u5b6a\u751f<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u673a\u8f7d\/\u8f66\u8f7d\/\u80cc\u5305\u5f0f\u79fb\u52a8\u6d4b\u91cf\u3001UAV \u822a\u6d4b\u3001\u57ce\u5e02\u4e09\u7ef4\u5efa\u6a21\u3001\u6587\u7269\u6570\u5b57\u5316\uff1b<strong>\u6d45\u6c34\u6d4b\u6df1 LiDAR<\/strong>\uff08\u7eff\u5149\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u673a\u5668\u4eba\u4e0e\u5de5\u4e1a\u73b0\u573a<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u5ba4\u5185\u81ea\u4e3b\u5bfc\u822a\u3001\u7801\u579b\/\u907f\u969c\u3001\u5b89\u5168\u5149\u5e55\u5347\u7ea7\u3001\u6599\u4f4d\/\u4f53\u79ef\u6d4b\u91cf\u3001AGV\/AMR \u5b9a\u4f4d\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u5b89\u9632\u4e0e\u4eba\u6d41\u7edf\u8ba1<\/strong>\n<ul class=\"wp-block-list\">\n<li>3D \u533a\u57df\u5165\u4fb5\u3001\u8f68\u8ff9\u5206\u6790\u3001\u5ba2\u6d41\u8ba1\u6570\uff08\u9690\u79c1\u53cb\u597d\uff09\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u7535\u529b\/\u80fd\u6e90\/\u4ea4\u901a<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u8f93\u7535\u8d70\u5eca\u5de1\u68c0\u3001\u98ce\u673a\u53f6\u7247\/\u5854\u7b52\u68c0\u6d4b\u3001\u9053\u8def\u8d44\u4ea7\u76d8\u70b9\u3001\u96a7\u9053\/\u6865\u6881\u53d8\u5f62\u76d1\u6d4b\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6797\u4e1a\/\u519c\u4e1a<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u6797\u5206\u53c2\u6570\uff08\u6811\u9ad8\/\u90c1\u95ed\u5ea6\uff09\u3001\u4f5c\u7269\u51a0\u5c42\u3001\u679c\u56ed\u4e09\u7ef4\u6d4b\u7b97\u3001\u53d8\u91cf\u55b7\u6d12\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6d77\u4e8b\u4e0e\u6e2f\u53e3<\/strong>\n<ul class=\"wp-block-list\">\n<li>\u6cca\u4f4d\u5f15\u5bfc\u3001\u5cb8\u6865\/\u5806\u573a\u9632\u78b0\u649e\u3001<strong>\u8fd1\u5cb8\u6d4b\u6df1<\/strong>\u3002<\/li>\n<\/ul>\n<\/li>\n<\/ol>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e03\u3001\u4e0e\u76f8\u673a\/\u6beb\u7c73\u6ce2\u96f7\u8fbe\u5bf9\u6bd4\uff08\u600e\u4e48\u53d6\u820d\uff09<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>LiDAR vs \u76f8\u673a<\/strong>\uff1aLiDAR \u7ed9\u51e0\u4f55\u771f\u503c\u66f4\u7a33\uff08\u5c3a\u5ea6\u4e0d\u4f9d\u8d56\u7eb9\u7406\uff09\uff0c\u4f46\u8bed\u4e49\u5f31\uff1b\u76f8\u673a\u6210\u672c\u4f4e\u3001\u8bed\u4e49\u5f3a\u3001\u53d7\u5149\u7167\u5f71\u54cd\u5927\u3002\u5e38\u7528<strong>\u76f8\u673a + LiDAR \u878d\u5408<\/strong>\uff08\u6df1\u5ea6\u8865\u5168\/BEV\uff09\u3002<\/li>\n\n\n\n<li><strong>LiDAR vs \u6beb\u7c73\u6ce2\u96f7\u8fbe<\/strong>\uff1a\u96f7\u8fbe\u5168\u5929\u5019\u3001\u901f\u5ea6\u76f4\u63a5\u53ef\u5f97\u3001\u5bf9\u96e8\u96fe\u6781\u5f3a\uff0c\u4f46\u89d2\u5206\u8fa8\u7387\u4f4e\u30013D \u7ec6\u8282\u5f31\uff1bFMCW LiDAR \u5728\u51e0\u4f55\u5206\u8fa8\u7387\u4e0e\u901f\u5ea6\u611f\u77e5\u4e4b\u95f4\u6298\u4e2d\uff0c\u4ee3\u4ef7\u662f\u7cfb\u7edf\u590d\u6742\u5ea6\u4e0e\u6210\u672c\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u516b\u3001\u9009\u578b\u4e0e\u67b6\u6784\u5efa\u8bae\uff08\u5de5\u7a0b\u5411\uff09<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u6ce2\u957f<\/strong>\uff1a\u8fdc\u8ddd\/\u5f3a\u9633\u5149\u573a\u666f\u503e\u5411 1550 nm\uff1b\u6210\u672c\u654f\u611f\u6216\u4e2d\u77ed\u8ddd\u53ef\u7528 905 nm\u3002\u6d45\u6c34\u6d4b\u6df1\u770b 532 nm\u3002<\/li>\n\n\n\n<li><strong>\u626b\u63cf\u65b9\u5f0f<\/strong>\uff1a\n<ul class=\"wp-block-list\">\n<li>\u5927\u89c6\u573a+\u4e2d\u957f\u8ddd\uff1a\u591a\u7ebf\u673a\u68b0\/\u65cb\u8f6c\u6216\u9ad8\u529f\u7387 MEMS\uff1b<\/li>\n\n\n\n<li>\u5c0f\u578b\u5316\/\u8fd1\u8ddd\/\u9ad8\u901f\uff1aFlash \u6216 MEMS\uff1b<\/li>\n\n\n\n<li>\u9ad8\u53ef\u9760\/\u65e0\u673a\u4ef6\uff1a\u5173\u6ce8 OPA\/FMCW \u7684\u91cf\u4ea7\u4e0e\u529f\u8017\u6307\u6807\u3002<\/li>\n<\/ul>\n<\/li>\n\n\n\n<li><strong>\u6307\u6807\u7ec4\u5408<\/strong>\uff1a\u4e0d\u8981\u5355\u770b\u201c\u6700\u5927\u8ddd\u79bb\u201d\uff0c\u8981\u8054\u52a8<strong>\u76ee\u6807\u53cd\u5c04\u7387\uff08\u5178\u578b 10\u201320%\uff09<\/strong>\u3001<strong>\u70b9\u9891<\/strong>\u3001<strong>\u89d2\u5206\u8fa8\u7387<\/strong>\u3001<strong>\u5929\u6c14\u900f\u8fc7\u7387<\/strong>\u4e0e<strong>\u5e27\u7387<\/strong>\u4e0b\u7684\u7a33\u5b9a\u56de\u6ce2\u6982\u7387\u3002<\/li>\n\n\n\n<li><strong>\u63a5\u53e3\u4e0e\u751f\u6001<\/strong>\uff1a\u662f\u5426\u6709 ROS\/ROS2\u3001PCL\u3001\u6807\u5b9a\u5de5\u5177\u3001\u9a71\u52a8 SDK\u3001\u65f6\u949f\u540c\u6b65\uff08PPS\/TSN\uff09\u652f\u6301\u3002<\/li>\n\n\n\n<li><strong>\u773c\u5b89\u4e0e\u6cd5\u89c4<\/strong>\uff1a\u7b26\u5408 <strong>IEC 60825<\/strong> \u76f8\u5173\u7b49\u7ea7\uff1b\u8f66\u89c4\u9700\u6ee1\u8db3 AEC-Q\u3001\u529f\u80fd\u5b89\u5168\uff08ISO 26262\uff09\u4e0e\u73af\u5883\u53ef\u9760\u6027\uff08IP\u3001\u76d0\u96fe\u3001\u9707\u52a8\uff09\u3002<\/li>\n\n\n\n<li><strong>\u8fd0\u7ef4<\/strong>\uff1a\u7a97\u53e3\u52a0\u70ed\/\u6e05\u6d01\u3001\u9632\u5c18\u9632\u96e8\u3001\u81ea\u52a8\u81ea\u68c0\u3001\u6807\u5b9a\u6301\u4e45\u6027\uff08\u6e29\u6f02\u8865\u507f\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u4e5d\u3001\u7b80\u5355\u201c\u80fd\u91cf\u9884\u7b97\/\u8ddd\u79bb\u201d\u601d\u8003\u6846\u67b6<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u8ddd\u79bb\u4e0a\u9650\u4e0d\u662f\u5e38\u6570<\/strong>\uff1a\u968f\u76ee\u6807<strong>\u53cd\u5c04\u7387<\/strong>\uff08\u9ed1\u8863\/\u67cf\u6cb9 vs \u53cd\u5149\u677f\uff09\u3001<strong>\u5929\u6c14<\/strong>\uff08\u6674\u5929 vs \u96fe\/\u96e8\uff09\u3001<strong>\u5165\u5c04\u89d2<\/strong>\u3001<strong>\u79ef\u7d2f\u65f6\u95f4<\/strong>\u800c\u53d8\u5316\u3002<\/li>\n\n\n\n<li><strong>\u5de5\u7a0b\u4e0a\u66f4\u770b P95\/P99 \u53ef\u89c1\u8ddd\u79bb<\/strong>\uff1a\u5728\u201c20% \u53cd\u5c04\u7387\u300110 klux \u9633\u5149\u3001\u8f7b\u5fae\u96fe\u6c14\u3001\u8f66\u901f X\u3001\u5236\u52a8\u8ddd\u79bb Y\u201d\u6761\u4ef6\u4e0b\uff0c\u80fd\u5426\u7a33\u5b9a\u68c0\u6d4b\u5230 1.5 m\u00d71.5 m \u76ee\u6807\uff1f<\/li>\n\n\n\n<li><strong>\u591a\u56de\u6ce2\u95e8\u63a7<\/strong>\uff1a\u8fdc\u5904\u5f3a\u53cd\u5c04\u4e0e\u8fd1\u5904\u5f31\u53cd\u5c04\u5e76\u5b58\u65f6\u7684\u8bef\u68c0\u4e0e\u201c\u5148\u5230\u5148\u5f97\u201d\u7b56\u7565\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u5341\u3001\u6570\u636e\u878d\u5408\u4e0e\u611f\u77e5\u6808\u5b9e\u8df5\u8981\u70b9<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>\u65f6\u7a7a\u5bf9\u9f50\u4f18\u5148\u7ea7\u6700\u9ad8<\/strong>\uff1a\u5916\u53c2\uff08\u65cb\u8f6c\/\u5e73\u79fb\uff09\u4e0e\u65f6\u95f4\u540c\u6b65\u8bef\u5dee\u5f80\u5f80\u6bd4\u5355\u4f20\u611f\u5668\u201c\u7cbe\u5ea6\u201d\u66f4\u81f4\u547d\u3002<\/li>\n\n\n\n<li><strong>\u53bb\u7578\u53d8\uff08motion compensation\uff09<\/strong>\uff1a\u9ad8\u901f\u79fb\u52a8\u8f7d\u4f53\u5fc5\u987b\u505a\uff0c\u4ee5\u514d\u62c9\u82b1\/\u9519\u4f4d\u3002<\/li>\n\n\n\n<li><strong>\u81ea\u76d1\u7763\u4e0e\u5b66\u4e60\u578b\u65b9\u6cd5<\/strong>\uff1a\u5c06\u76f8\u673a\u8bed\u4e49\u8fc1\u79fb\u5230\u70b9\u4e91\uff08\u84b8\u998f\/BEV \u878d\u5408\uff09\u63d0\u5347\u8fdc\u8ddd\u5c0f\u76ee\u6807\u53ec\u56de\u3002<\/li>\n\n\n\n<li><strong>\u95ed\u73af<\/strong>\uff1aSLAM \u4e2d\u95ed\u73af\u68c0\u6d4b + \u56e0\u5b50\u56fe\u4f18\u5316\uff0c\u663e\u8457\u964d\u4f4e\u5168\u5c40\u6f02\u79fb\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u5341\u4e00\u3001\u8d8b\u52bf\u4e0e\u524d\u6cbf<\/h5>\n\n\n\n<ul class=\"wp-block-list\">\n<li><strong>FMCW \u8f66\u89c4\u5316<\/strong>\uff1a\u8ddd\u79bb+\u901f\u5ea6\u540c\u6d4b\u3001\u5f3a\u6297\u5e72\u6270\uff1b\u9700\u7845\u5149\/\u76f8\u5e72\u63a5\u6536\u94fe\u6210\u719f\u4e0e\u6210\u672c\u4e0b\u63a2\u3002<\/li>\n\n\n\n<li><strong>\u56fa\u6001\u5316<\/strong>\uff08MEMS\u2192OPA\/Flash\uff09\uff1a\u53bb\u673a\u68b0\u3001\u63d0\u5347\u53ef\u9760\u6027\u4e0e\u53ef\u91cf\u4ea7\u6027\u3002<\/li>\n\n\n\n<li><strong>\u66f4\u9ad8\u70b9\u9891\u4e0e\u4f4e\u529f\u8017 SoC<\/strong>\uff1a\u524d\u7aef\u9884\u5904\u7406\uff08\u53bb\u566a\/\u805a\u7c7b\uff09\u4e0b\u6c89\u5230\u8fb9\u7f18 ASIC\/FPGA\u3002<\/li>\n\n\n\n<li><strong>\u591a\u4f20\u611f\u5668\u6df1\u5ea6\u878d\u5408<\/strong>\uff1a\u76f8\u673a\/\u96f7\u8fbe\/LiDAR+IMU \u7684\u8054\u5408\u5b66\u4e60\u4e0e\u7aef\u5230\u7aef\u89c4\u5212\u95ed\u73af\u3002<\/li>\n\n\n\n<li><strong>\u6807\u51c6\u4e0e\u5b89\u5168<\/strong>\uff1a\u773c\u5b89\u4e0e\u529f\u80fd\u5b89\u5168\u7684\u5206\u7ea7\u6d4b\u8bd5\u3001\u4e92\u6270\u6807\u51c6\u5316\uff08\u8f66\u961f\u573a\u666f\uff09\u3002<\/li>\n\n\n\n<li><strong>\u9762\u5411\u884c\u4e1a\u573a\u666f\u7684\u5b9a\u5236\u5149\u5b66<\/strong>\uff1a\u5982\u6d4b\u7ed8\uff08\u957f\u8ddd\u7a84\u675f\uff09\u3001\u673a\u5668\u4eba\uff08\u8fd1\u8ddd\u5927 FOV\u3001\u9ad8\u5e27\u7387\uff09\u3001\u6d4b\u6df1\uff08\u7eff\u5149\u7a84\u5e26\uff09\u3002<\/li>\n<\/ul>\n\n\n\n<h5 class=\"wp-block-heading\">\u5341\u4e8c\u3001\u843d\u5730\u6e05\u5355\uff08\u7ed9\u5b9e\u65bd\u8005\uff09<\/h5>\n\n\n\n<ul 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