Creating a Static LiDAR Sensor

This page shows how to create a static LiDAR sensor that will be used for LiDAR simulation.

To create a Static LiDAR Sensor:

  1. From the Light Simulation tab, click System > LiDAR .
  2. From the Type drop-down list, select Static.
  3. Define the axis system of the source (emitter channel) by setting its position and orientation.
    Note: To correctly orient the beam, first verify the orientation of the IES file.
    • Click to select one point for the origin (point where the pulse is emitted).
    • Click to select a line to define the horizontal axis (corresponding to the X axis of the IES file).
    • Click to select a line to define the vertical axis (corresponding to the Y axis of the IES file).
    • or click and select a coordinate system to autofill the Axis System.
    Note: If you define manually one axis only, the other axis is automatically (and randomly) calculated by Speos in the 3D view. However, the other axis in the Definition panel may not correspond to the axis in the 3D view. Please refer to the axis in the 3D view.
  4. Define the monochromatic spectrum of the source.
  5. To define the source intensity distribution, in Source-Intensity, click Browse to load an IES (.ies) or Eulumdat (.ldt) file.
  6. In Pulse energy, define the energy of a single pulse emitted by the LiDAR source (in Joule).
  7. Set a Minimum intensity threshold to define a threshold under which the signal of the LiDAR source is not taken into account. This helps LiDAR differentiate what should be used or ignored to calculate LiDAR's field of view.
  8. Define the axis system of the sensor (receiver channel):
    • Click to select one point for the origin (point from which the pulse is received).
    • Click to select a line to define the horizontal axis of the sensor.
    • Click to select a line to define the vertical axis of the sensor.
    • or click and select a coordinate system to autofill the Axis System.
  9. In the Optics section, define the properties of the sensor's objective:

    • In Distortion file, click Browse to load an .OPTDistortion file.

      Note: The *.OPTDistortion file is used to introduce/replicate the optical distortion of the lens. Every lens has varying degrees of distortion.
    • Define the Transmittance (capacity to allow the light to pass through) of the lens.
    • In Focal length, define the distance between the center of the optical system to the focus.

    • In Pupil, define the diameter of the objective aperture.

      The Horizontal and Vertical Field of Views (FOV) are calculated according to the distortion, transmittance, focal length and pupil of the objective.

  10. Define the size and resolution of the imager (the sensor) that is placed behind the objective.
    • Define the Width and Height of the LiDAR sensor.
    • Define the number of horizontal and vertical pixels to determine the LiDAR resolution.
  11. Define the sensor range and accuracy:
    • In Start, type the minimum distance from which the LiDAR is able to operate and integrate rays.
    • In End, type the maximum distance up to which the LiDAR is able to operate and integrate rays.

    • In Spatial accuracy, define the sampling used to save the Raw time of flight.

      The time of flight is the time taken by the light to travel from the LiDAR to the object.

    Note: If you define manually one axis only, the other axis is automatically (and randomly) calculated by Speos in the 3D view. However, the other axis in the Definition panel may not correspond to the axis in the 3D view. Please refer to the axis in the 3D view.
  12. If you want to define an Aiming area for the sensor:
    1. Set User defined to True.
      In the 3D view, a preview of the aiming area is displayed to help position it to the desired location.
    2. If you want to adjust the axis system (that is, by default, the same as the sensor's), select one point for the Origin and two lines for X and Y directions or click and select a coordinate system to autofill the Axis System.
      Note: If you define manually one axis only, the other axis is automatically (and randomly) calculated by Speos in the 3D view. However, the other axis in the Definition panel may not correspond to the axis in the 3D view. Please refer to the axis in the 3D view.
    3. From the Type drop-down list, select the shape you want to use for the aiming area:
      • Select Rectangle
      • Select Elliptic
    4. Define the Width and Height of the cover lens.
The LiDAR sensor is created and is visible both in Speos tree and in the 3D view.
You can now create a LiDAR Simulation.