Hesai Pandora User manual

Pandora
All-in-One Sensing Solution
for Autonomous Driving
User’s Manual
HESAI Wechat
www.hesaitech.com
100-en-1801A2

Caution
To avoid violating the warranty and to minimize the chances of getting electrically shocked, please do not disassemble the device on your
own accord. The device must not be tampered with and must not be changed in anyway. There are no user-serviceable parts inside the
device. For repairs and maintenance inquiries, please contact an authorized Hesai Technologies service personnel.
Use of controls or adjustments or performance of
procedures other than those specified herein may result in
hazardous radiation exposure
CAUTION
The device satisfies the requirements of:
IEC 60825-1:2014;
21 CFR 1040.10 and 1040.11 except for deviations pursuant to Laser Notice No.50, dated June 24, 2007;
GB7247.1-2012
Laser Safety Notice-Laser Class 1
DISCLAIMER The information contained within this user’s manual and the functions offered are intended to provide information about
products. All reasonable efforts have been made to ensure the accuracy of the information. However, Hesai cannot be held responsible for
any errors. Hesai does not warrant the accuracy and reserves the right to make changes to the catalog and its functions at any time without
notice.
Please read and follow all instructions carefully and consult all relevant national and international safety regulations for your
application.
Safety Notice

Contents
1.1
1
Pandora-LiDAR 02-03
1.2 Pandora-Camera 04
1.3 Camera and LiDAR Synchronization and Calibration 05
1.4 Specifications 06
Introduction
2.1 Mechanical Installation 07
2.2 Interfaces 08
2.3 How to Connect 09-10
Installation
2
3.1 LiDAR Data Structure 11-18
3.2 Camera Data Structure 19-20
3.3 Analysis of Data 20
3.4 Pandora Projection for ROS 20
Pandora Data Structure
3
4.1 Open Web Control 21
4.2 Setting 22
4.3 Device Info 23
4.4 Firmware Upgrade 24
Web Control
4
25-26
Appendix I
LiDAR Channel Distribution
27-30
Appendix II
Point Cloud Data Packet Absolute Time and Laser
Firing Time Calculations
31-38
Appendix III
PandarView
39-40
Appendix IV
Support and Contact

Figure 1.1 Placement of Pandora
LiDAR
LiDAR has an extended
measurement range of 200m at
20% reflectivity, and generates up
to 720,000 data points per second
Cameras
Four wide-angle lens cameras and
one forward-facing color camera
capture 360° image around the car
Introduction1
Pandora is an all-in-one sensor kit for environment sensing for self-driving cars. It integrates cameras, LiDAR and data processing ability
into the same module, with advanced synchronization and calibration solutions.
In addition to the specifications of Pandora, this manual also describes the mechanical installation, data outputs format, and GPS timestamp
synchronization.
This manual is undergoing constant revision and improvement, please ask Hesai for the lastest version of the user’s manual.
-01-

The upside of Pandora is a 40-channel mechanical LiDAR. It creates 3D image by 360° rotating through 40 laser diodes inside the housing.
LiDAR’s unique channel distribution makes it more suitable for autonomous driving applications.
1.1 Pandora — LiDAR
1.1.1 Operational Principles
Distance Measurement: Time of Flight (ToF)
Figure 1.2 ToF Formula
d= ct
1
2
d：
c：
t：
Distance
Speed of light
Laser beam travel time
A laser diode emits a beam of ultrashort pulse laser on to the object.
Diffuse reflection of the laser occurs upon contact with the target object.
Reflected beams are detected by the optical sensor.
Distance to object can be accurately measured by calculating the time
between emission and receipt by the sensor.
1.
2.
3.
1.1.2 Structure Description
40 pairs of laser emitters and receivers are attached to a rotating motor
inside the Pandora that perform horizontal scans in 360 degrees.
Laser Receiver
Laser Emitter Shell
Interface
Figure 1.3 Partial Cross-Sectional Diagram
-02-

Channel 1
Channel 6
Channel 12
Channel 30
Channel 40
+ 7°
+ 2°
0°
- 6°
- 16°
Figure 1.4 LiDAR Channel Distribution
1.1.3 Channel Distribution
The vertical angular resolution is 0.33° between Channel 6 and Channel 30;
The vertical angular resolution is 1° between Channel 1 and Channel 6, Channel 30 and Channel 40.
Please see Appendix I for detailed channel distribution.
-03-

Camera
Black and White：129° Color：52°
LiDAR
360°
Pandora has four wide-angle lens cameras and one forward-facing color camera capturing 360° image around the car.
Figure 1.5 Coverage of Cameras
Figure 1.6 Camera Placement
No. Type Resolution FOV
0 Color Camera 1280*720 52° (H), 28.6° (V), 61° (D）
1 Mono Camera 1280*720 129° (H), 81.8° (V), 142.4° (D)
2 Mono Camera 1280*720 129° (H), 81.8° (V), 142.4° (D)
3 Mono Camera 1280*720 129° (H), 81.8° (V), 142.4° (D)
4 Mono Camera 1280*720 129° (H), 81.8° (V), 142.4° (D)
Table 1.1 Type of Camera
3
1
2 4
0 Color Camera 1-4 Mono Camera
Pandora—Camera1.2
-04-

Figure 1.7 Synchronization of LiDAR and Cameras Figure 1.8 Calibration of Multiple Sensors
Synchronization
Pandora controls the motor rotating and laser firing time of the
LiDAR, and at the same time, LiDAR controls the exposure time
and frame rate of the cameras. Therefore, Pandora can achieve
synchronization of point cloud data from LiDAR and imaging data
from the cameras, which makes sure those data are describing the
same object.
Exposure
Exposure
Calibration
Based on the calibration between point cloud and images, an
accurate mapping between point cloud and camera pixel can be
achieved and their spaces can be accurately matched.
Camera and LiDAR Synchronization and Calibration1.3
-05-

Specifications
1.4
LiDAR
Scanning Method Mechanical Rotating
Channel 40
Measurement Range 0.3 m~200 m（20% reflectivity）
Accuracy ±5 cm (0.3 m ~ 0.5 m),
±2 cm (0.5 m ~ 200 m)
Point Frequency 720 kHz
Laser Class Class 1 Eye Safety
Frame Rate 10 Hz, 20 Hz
FOV (Horizontal) 360°
Angular Resolution 0.2°(10 Hz), 0.4°(20 Hz),
FOV (Vertical) -16°~7°
Return Mode Dual Return
Angular Resolution (Vertical) 0.33°（-6° to +2°）；
1°（-16° to -6°，+2° to +7°）
Color Camera
Resolution 1280*720
FOV 52°(H), 28.6°(V), 61°(D)
EFL 5.47 mm
TV-Distortion ＜-14.2%
Mono Camera
Resolution
FOV
1280*720
129° (H), 81.8° (V), 142.4° (D)
EFL 1.65 mm
TV-Distortion ＜-44.2%
System Specs
Size Height: 190 mm, Top Diameter: 116 mm,
Bottom Diameter: 118 mm
Power Consumption 30 W
Data Transmission Ethernet (1000 Mbps)
Operating Temperature -10 ℃~60 ℃
Operating Voltage 9 V~32 V
Weight 2.1 kg
Enclosure Level IP66
Table 1.2 Pandora Specifications
-06-

Pandora has already finished calibration before delivery. The unit is easy to install and plug-and-play. Please refer to chapter 2 for details on
mechanical dimension, interfaces and connection methods.
NOTE Because of the intrinsic angle offset of each laser channel, the zero degree is defined as the azimuth angle in the corresponding block
in UDP packet when channel 12 passes y axis defined in figure 1.3.
Installation2
Mechanical Installation2.1
45°
φ118（0D）
2-φ4mm 5.5mm
FORφ4mm PINS
φ88.9 5-M6 5(MOUNT)
φ118
Figure 2.1 Mechanical Dimension Figure 2.2 Pandora Rotation Direction
270°
90°
180° 0°
Clockwise
Rotation
Direction
Reference Center
-07-