Scan Patterns
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Ocular Robotics Ltd
5
Scan Patterns
The RE08 currently supports three configurable scan patterns; the
Full Field Scan
,
Bounded Elevation Scan
, and
Region Scan
. These scan patterns are able to be altered, or
switched between on-the-fly (usually within a couple of milliseconds of the command
being sent) which is an unprecedented capability for a 3D laser scanner. Each scan
pattern is fully parameterized, meaning that the parameters (or variables) that define
the way the aperture moves can be altered by the user to create the arbitrary scanning
behavior demanded by a given application. Users are encouraged to explore the range of
options available to them, so that an 'optimal' configuration can be found for the
problem at hand.
The settings for each of these scan patterns will be examined in the following sections.
5.1
Sampling Rate
Three laser sampling rates are supported on the RE08.
The
High Speed Mode
operates at a 25 kHz sampling frequency. The distance values
are returned with corresponding intensity, reflectance and pulse width values. In this
mode, there is no pre-detection averaging.
The
High Range Mode
operates at 5 kHz sampling frequency. The distance values are
returned with corresponding intensity, reflectance and pulse width values. In this mode,
pre-detection averaging occurs across 5 samples.
The
Extended Range Mode
operates at a 500 Hz sampling frequency. The distance
values are returned with corresponding intensity, reflectance and pulse width values. In
this mode, pre-detection averaging occurs across 50 samples.
Table 1 – Distance Measurement Dispersion
Mode
Freq [Hz]
Avg
Output Freq
[Hz]
Dispersion [mm]
High Speed
25000
1
25000
14
High Range
25000
5
5000
10
Extended Range
25000
50
500
8