Hesai PandarXT User manual

www.hesaitech.com
HESAI Wechat
PandarXT
32-Channel Medium-Range
Mechanical LiDAR
User Manual

󶛾󶛿󶜀󶜀󶛾󶜂󶛿󶛾

..................................................................................... 󶛿
.............................................................................................. 󶜁
󶛿......................................................................................... 󶛿󶛾
󶛿󶛿  ...................................................................... 󶛿󶛾
󶛿󶜀  ............................................................................. 󶛿󶛿
󶛿󶜁 .................................................................... 󶛿󶜀
󶛿󶜂 ............................................................................... 󶛿󶜁
󶜀.................................................................................................... 󶛿󶜅
󶜀󶛿 ................................................................ 󶛿󶜅
󶜀󶜀  ...................................................................................... 󶜀󶛿
󶜀󶜁  .......................................................... 󶜀󶜃
󶜀󶜂  .......................................................................... 󶜀󶜇
󶜁...................................................................................... 󶜁󶛾
󶜁󶛿  .............................................................. 󶜁󶛿
󶜁󶜀  ........................................................................... 󶜁󶜆
󶜂......................................................................................... 󶜂󶜂
󶜂󶛿 .............................................................................................󶜂󶜃
󶜂󶜀  .........................................................................................󶜂󶜅
󶜂󶜁  .................................................................................󶜃󶜃
󶜂󶜂  ......................................................................󶜃󶜆
󶜂󶜃  ........................................................................................󶜃󶜇
󶜃 .................................................................... 󶜄󶛾
󶜄 ............................................................................ 󶜄󶛿
 ............................................................. 󶜄󶜅
....................................... 󶜄󶜇
............................................... 󶜅󶜃
 ........................................... 󶜅󶜅
 .......................................................................... 󶜆󶜀

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




















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
  
  

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
  






4


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


  













5






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
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
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󶜀󶜁󶜃󶜁󶛾󶜅󶛾





6
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
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    
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
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

7

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󶜄󶛾󶜆󶜀󶜃󶛿󶜀󶛾󶛿󶜂
󶜀󶛿󶛿󶛾󶜂󶛾󶛿󶛾󶛿󶛾󶜂󶛾󶛿󶛿󶜄󶛾󶜆󶜀󶜃󶛿󶜁󶜃󶜄󶜆󶜀󶛾󶛿󶜇
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  
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









9
 

  






10
1Introduction

1.1 

󶛿  
󶜀  
󶜁  





󶛿󶛿

11
1.2 

󶛿󶜀
󶛿󶜁

󶛿󶜂

󶛿󶜁

󶛿󶜂󶛾

󶜇󶛾
󶜇󶛾
󶜇󶛾

12
1.3 
󶛿 󶛿󶜃
󶛿󶜃
󶛿󶜄



   󶜃
 
 

13
1.4 




󶜁󶜀

󶛾󶛾󶜃󶛿󶜀󶛾
 
󶜆󶛾󶛿󶛾󶜇󶜀󶜂
󶜃󶛾󶛿󶛾󶛿󶜆󶜀󶜃󶜁󶜀
 
󶛿
󶜀standard
 
󶛾󶜃󶛿
󶜀standard

󶜁󶜄󶛾

󶛾󶛾󶜇
󶜃
󶛾󶛿󶜆
󶛿󶛾
󶛾󶜁󶜄
󶜀󶛾

󶜁󶛿 󶛿󶜄 󶛿󶜃

󶛿

󶜃󶛿󶛾󶜀󶛾



  



󶜇󶛾󶜃

󶛿

󶜄󶜅


󶜅󶜄󶛾

󶛿󶛾󶛾󶛾󶛿󶛾󶜁󶛾

󶜇󶜁󶜄
 
󶛿󶛾

󶜀󶛾 󶜄󶜃

󶜂󶛾 󶜆󶜃

󶛾󶜆



󶛿󶛾󶛾




󶜄󶜂󶛾󶛾󶛾󶛾

󶛿󶜀󶜆󶛾󶛾󶛾󶛾


󶜀󶜀󶜂󶜂

󶜂󶜂󶜆󶜆


 
󶛰󶛿 
 
󶛰󶛿 

14

 
 󶛿󶛾󶛾󶜇󶛾
 
 
 󶜇󶜀󶜂󶛾󶜃󶜅󶛾󶜁󶛾
󶜃󶛾
 3/7/15/25 m, under room temperature, and with target reflectivities
between 5% and 65%.
 
 󶛿󶜀󶜄󶛾󶛾
 
 󶜁󶛾
 
 
 
 

15


󶜁󶛾󶜇󶜀󶜂

-1.0
0.0
1.0
2.0
3.0
4.0
5.0
0.05 0.5 1 3 5 10 20 30 50 70 90
Accuracy (cm)
Target Distance (m)
Accuracy @50% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3
-1.0
0.0
1.0
2.0
3.0
4.0
5.0
0.05 0.5 13510 20 30 50 70 90
Accuracy (cm)
Target Distance (m)
Accuracy @10% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3
 
 
 
󶜁󶛾


16


󶜁󶛾󶜇󶜀󶜂
0.0
0.5
1.0
1.5
2.0
2.5
0.05 0.5 13510 20 30 50 70 90
Precision (cm)
Target Distance (m)
Precision @50% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3
0.0
0.5
1.0
1.5
2.0
2.5
0.05 0.5 1 3 5 10 20 30 50 70 90
Precision (cm)
Target Distance (m)
Precision @10% Reflectivity
Random Sample 1
Random Sample 2
Random Sample 3

17
2Setup
2.1 
󶜀󶛿

18
󶜀󶜀