LeddarTech LeddarOne User manual

LeddarOne
USER GUIDE

Page Intentionally Left Blank

© 2018 LeddarTech®Inc. All rights reserved.
LeddarTech®Inc., referred to as the Company shall not be liable for any errors contained herein
or for any damages arising out of or related to this document or the information contained therein,
even if the Company has been advised of the possibility of such damages.
The information contained herein is the property of the Company and shall not be reproduced in
whole or in part without prior written approval of the Company. The Company assumes no
responsibility for any errors or omissions in this document.
Leddar is a trademark of LeddarTech®Inc. All other trademarks are the property of their
respective owners.
Leddar™ Configurator software: this software is based in part on the work of the Independent
JPEG Group.

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Table of Contents
Introduction...............................................................................................6
1.1. Description ................................................................................................................... 6
1.2. Underlying Principles ................................................................................................. 11
1.3. Signal Processing Algorithm Overview...................................................................... 12
1.3.1. Signal Acquisition ................................................................................................................12
1.3.2. Static Noise Removal ..........................................................................................................12
1.3.3. Pulse Detection....................................................................................................................12
1.3.4. Saturation Compensation ....................................................................................................13
1.3.5. Temperature Compensation................................................................................................13
1.3.6. Smoothing............................................................................................................................13
1.3.7. Automatic LED Intensity Control..........................................................................................13
Getting Started........................................................................................14
2.1. Setup.......................................................................................................................... 14
2.2. Connecting to the Module.......................................................................................... 14
Measurement and Settings ....................................................................16
3.1. Distance Measurement.............................................................................................. 16
3.2. Data Description......................................................................................................... 16
3.3. Acquisition Settings.................................................................................................... 17
3.3.1. LED Intensity .......................................................................................................................19
3.3.2. Smoothing............................................................................................................................19
3.4. Measurement Rate..................................................................................................... 20
3.5. Serial Port Settings .................................................................................................... 21
3.6. Modbus Protocol........................................................................................................ 22
3.7. SDK............................................................................................................................ 24
LeddarTM Configurator............................................................................25
4.1. Installing LeddarTM Configurator ................................................................................ 25
4.2. Connecting to the Module.......................................................................................... 25
4.3. LeddarTM Configurator Main Window......................................................................... 27
4.3.1. Menu Bar.............................................................................................................................27
4.3.2. Toolbar.................................................................................................................................29
4.4. Using LeddarTM Configurator...................................................................................... 29
4.4.1. Configurating Serial Port......................................................................................................29
4.4.2. Acquisition Settings .............................................................................................................31
4.4.3. Saving and Loading a Configuration....................................................................................31
4.4.4. Configuring Detection Records............................................................................................32

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4.4.5. Using Detection Records.....................................................................................................33
4.4.6. Data Logging .......................................................................................................................35
4.4.7. Raw Detection .....................................................................................................................36
4.4.8. Update.................................................................................................................................38
4.4.9. Preferences .........................................................................................................................38
4.4.10. License Manager .................................................................................................................38
4.4.11. Device State ........................................................................................................................39
4.4.12. Calibration of the Static Noise..............................................................................................40
Specifications..........................................................................................42
5.1. General ...................................................................................................................... 42
5.2. Mechanical................................................................................................................. 42
5.3. Electrical..................................................................................................................... 42
5.4. Optical........................................................................................................................ 42
5.5. Performance............................................................................................................... 43
5.5.1. Accuracy..............................................................................................................................43
5.5.2. Supply Voltage Versus Accuracy.........................................................................................44
5.5.3. Range..................................................................................................................................44
5.5.4. Detection Threshold.............................................................................................................45
5.6. Regulatory Compliance.............................................................................................. 46
5.7. Dimensions ................................................................................................................ 47
Technical Support...................................................................................48
Index……………………………………………………………………………………49

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Introduction
The Leddar™One enables developers and integrators to make the most of Leddar™ technology
through integration in systems requiring detection and ranging. The Leddar™One Module is a
more compact and low-cost alternative that brings valuable sensing intelligence to a whole new
range of finished products.
1.1. Description
The Leddar™One package contains the sensor module with the following features:
•3° conic beam
•Beam height: 3°
•Real-time data acquisition (through serial port)
•3.3V UART or RS-485 link for measurement acquisition
•Leddar™ Software
oLeddar™ Configurator
▪Module configuration
▪Real-time display of detection and measurement data
▪Data recording and logging.
oLeddar™ Enabler SDK
Complete C example demonstrating parameter configuration and data acquisition using the
MODBUS protocol over the serial link.

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The following is a description of the main components of the Leddar™One.
Figure 1: Leddar™ One Module (3° optics)

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The power and interface signals are included on a six-pin standard 0.1” pitch header with the
following pinout:
Table 1: Pinout of the Power and Interface Signals Header
Pin –Function
Description
1 –GND
Ground.
2 –IRQ
Interrupt Signal, active high. Set when a new
measurement is available, reset when data
read from Modbus link.
3 –Supply
5V
4 –RX or RS-485+
Serial port input.
5 –TX or RS-485-
Serial port output.
6 –RESET_N
This is a pulled-up input that must be pulled
down below 0.8 V for at least 350 ns and then
released to reset the processor.
The pin 1 position is shown in Figure 1.

LeddarOne –User Guide Page 9 of 52
Push Button
The push button at the right of the six-pin interface has three functionalities:
Table 2: Push Button Functionalities
Description
Action
Short press during sensor
operation
Software reboot
Short press at power up
(less than 10 seconds)
Reset sensor configuration. The button must be
pressed before powering the sensor and released once
power is applied.
Long press at power up
(more than 10 seconds)
Upload a binary file at power-up.
WARNING: It is recommended to use the Leddar™
Configurator software for upgrading the module
firmware. Firmware upgrade using the following
procedure should be performed only when instructed
by LeddarTech’s technical support.
A PC with a serial terminal program supporting the
YMODEM protocol must be available. It must be set to
115200 bauds, 8 data bits, 1 stop bit and no parity and
connected to the serial port.
The button must be pressed before applying power and
then continuously held for at least 10 seconds, until the
text “Waiting… (press 'a' to abort)” appears in the
terminal.
You can then start the YMODEM transfer of the
firmware file. Once the transfer is completed, either
“Successful!” or “Failed!” will appear. On success the
sensor will automatically start.

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Leddar™One Architecture
The following diagram presents the architecture of the module.
Figure 2: Working Diagram
The Leddar™One module includes the photodetector, LEDs, MCU, the controller for LED pulsing
and data acquisition. Data acquisition is performed at a sampling frequency of 72131 Hz
(44 MHz/610).
The Leddar™One module processes the acquired data and produces measurements at a
configurable measurement rate. The measurements provide the distance of detected objects in
the conic beam.
Note: The sensor measurement rate varies according to the oversampling and accumulation
settings.
LED pulsing and receiver data acquisition timing is controlled by the FPGA. A temperature sensor
located near the LEDs is used to implement temperature compensation on the ranging results.
The MCU recovers the waveforms from the FPGA, performs full waveform analysis, and
generates detection and ranging data. The data can be acquired and displayed in software
through the serial port.

LeddarOne –User Guide Page 11 of 52
1.2. Underlying Principles
Created by LeddarTech, LEDDAR™ (light-emitting diode detection and ranging) is a unique
sensing technology based on LED illumination (in either the visible or the infrared spectrum) and
the time-of-flight of light principle. The LED emitters illuminate the area of interest (pulsed at high
frequency) and the single channel sensor receiver collects the backscatter of the emitted light and
measures the time taken for the emitted light to return back to the sensor. A single photodetector
is used and provides a full-beam sensing module. Full-waveform analysis enables detection and
distance measurement of multiple objects in the beam, provided that foreground objects do not
fully obscure objects behind them. Oversampling and accumulation techniques are used to
provide extended resolution and range.
Figure 3 illustrates the illumination area and detection segments of the Leddar™One module.
Figure 3: Illumination Area and Detection Zone
The core of Leddar™ sensing is the pulsing of diffused light, collection of reflected light (including
oversampling and accumulation), and full-waveform analysis. The light source type, the number
of light sources, the illumination and reception beam, and the number of photodetectors can all be
tailored to fit specific application requirements such as detection range, beam and spatial
resolution.

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1.3. Signal Processing Algorithm Overview
The conceptual overview of the sensor signal processing algorithm is shown in Figure 4:
Figure 4: Leddar™ Signal Processing Algorithm Overview
1.3.1. Signal Acquisition
The signal acquisition module samples the signal of the photodiode element using a patented
oversampling and accumulation strategy to maximize the signal resolution and the signal to noise
ratio. It provides the light intensity received by the sensor as a function of the time (corresponding
to distance knowing the speed of light) also called full-waveform signal. This full-waveform signal
allows the use of advanced signal processing techniques to extract the distances of the objects
and other useful information about the scene.
1.3.2. Static Noise Removal
The static noise removal algorithm removes, as its name indicates, the static noise in the full-
waveform signal induced by undesirable light reflections due to sensor enclosure or
electromagnetic interferences. This algorithm increases drastically the distance measurement
accuracy and linearity. The static noise shape is learned during a calibration procedure during
which the waveform of the signal is captured while the reception lens of the sensor is shielded
from the backscattered light. The sensor comes with a static noise factory calibration. However,
the default calibration can be updated by the user using LeddarTM Configurator, see Section
4.4.12 for more details.
1.3.3. Pulse Detection
The objects in the sensor field of detection create a particular signature in the full-waveform
signal called pulses. The pulse detector analyzes the full-waveform signal in order to recognize
these pulses and compute their distance. By nature, time-of-flight sensor using full-waveform
analysis is able to detect several distinct objects with a single photodiode element.
Pulse Detector
Time-of-
Flight Raw
Data
Temperature
Compensation
Smoothing
Algorithm Calibration Offsets
Sensor
Temperature Data
Echoes
Signal Acquisition Thresholding
Led Intensity,
Oversampling,
Accumulation and
Number of Sample
Points
Smoothing
Parameters
Static Noise
Removal
Static Noise Template
Learned during the
Calibration Process
Accurate and
Precise Distance
Measurements
Threshold Table
Saturation
Compensation
Pulse Classifier
Saturated
Echoes
Normal
Echoes
Echoes with Significant
Magnitude
Distance Offsets from
Calibration Process
Pulse of Light
Automatic Led
Intensity Control

LeddarOne –User Guide Page 13 of 52
The detected pulses have specific amplitudes based on their distance from the sensor and on the
reflectivity of the objects. It is well known that pulses of small amplitudes do not lead to accurate
and precise distance measurements. Consequently, the algorithm removes all pulses with
amplitudes under a given threshold. This threshold depends on the acquisition settings of the
sensor, see Section 5.5.2 for more details.
1.3.4. Saturation Compensation
The algorithm classifies the detected pulses based on their shape. The LeddarOneTM determines
which pulses are saturated and which have a normal shape. It is noted that other families of the
products have more advanced classification technology such as merged object discrimination.
Saturated pulse occurs when the signal backscattered by the object is so strong that the full-
waveform signal is clipped. If not treated, this phenomenon creates an important degradation of
the distance measurement accuracy. It is why a saturation compensation algorithm is executed
when saturated pulses are detected. This innovative algorithm uses a sophisticated approach to
provide a distance measurement accuracy better than 10 cm even with a strongly clipped signal.
1.3.5. Temperature Compensation
The signal processing algorithm also embeds an advanced temperature compensation scheme
which attenuates the distance measurement drift over large and sudden sensor temperature
changes. With this algorithm, the distance measurements stabilize inside 1 cm in less than 10
seconds on cold sensor startup. The temperature compensation also ensures optimal accuracy
over the full operating temperature range.
1.3.6. Smoothing
The smoothing algorithm reduces the distance measurement jitter. It can be seen as a recursive
average filter which continuously adapts its cutoff frequency (or averaging history length) as a
function of the current measurement noise. This innovative algorithm increases the precision of
the device (decreases the standard deviation of the measurements). The level of smoothing of
the algorithm can be adjusted to fit the requirements of the user applications, please see Section
3.3.2 for more details.
1.3.7. Automatic LED Intensity Control
The automatic LED intensity control adjusts the intensity of the LEDs in real time in order to
maintain optimal pulse magnitudes at all times. For instance, if pulses become suddenly
saturated, the sensor will decrease automatically the intensity of the LEDs to a level that ensures
an optimal distance measurement accuracy.

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Getting Started
2.1. Setup
To configure the sensor and see measurements the Leddar™ Configurator software must be
installed. This software is available for download at www.leddartech.com/support. Once you have
downloaded the file, simply double-click on it and follow on-screen instructions.
Figure 5: Leddar™ Software Setup Dialog Box
The installer creates an icon on the computer desktop and in the Start menu.
2.2. Connecting to the Module
Once the installation is completed, you can connect to the module.
To connect to the module:
1. On the computer desktop, double-click the Leddar™ Configurator icon.
2. In Leddar™ Configurator, click the connect button ( ).

LeddarOne –User Guide Page 15 of 52
Figure 6: Connecting to a Device
3. In the Connection window, select your serial port and click Connect.
Figure 7: Connection Window
The main window displays the detections (green bar) in the distance gauge.

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Measurement and Settings
3.1. Distance Measurement
Distance is measured from the surface of the module PCB.
Figure 8: Distance Measurement
The dashed lines illustrate the full-beam and the solid line indicates the distance measured by the
sensor.
3.2. Data Description
Measurement data can be displayed in the Raw Detections window (View menu > Raw
Detections).
Figure 9: Raw Detections Dialog Box

LeddarOne –User Guide Page 17 of 52
An object crossing the beam of the sensor is detected and its distance is measured. A
measurement contains distance, amplitude, a flag bit field and the segment of the detection. The
latter applies to multiple-segment modules and is fixed for the Leddar™One. The quantity of light
reflected back to the sensor by the object generates the amplitude. The stronger the reflection,
the higher the amplitude.
Table 3: Raw Detection Field Description
Field
Description
Segment
Beam segment in which the object is detected (Always 1 for the
Leddar™One)
Distance
Distance of the detected object from the sensor
Amplitude
Quantity of light reflected by the object and measured by the sensor
Flag
Always 1 for the Leddar™One
3.3. Acquisition Settings
Acquisition settings allow you to define parameters to use for detection.
To open the Acquisition Settings dialog box, on the Device menu, point to Configuration and
click Acquisition…
Figure 10: Acquisition Setting Dialog Box
To apply the changes, click the apply button ( ) in the main window.

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Table 4: Sensor Setting Description
Parameters
Descriptions
Effects
Accumulations
Number of accumulations
Higher values enhance range, reduce
measurement rate and noise.
Oversampling
Number of oversampling cycles
Higher values enhance accuracy/
precision/resolution and reduce
measurement rate.
Points
Number of base sample points
Determines maximum detection processing
range.
Smoothing
Distance measurement
smoothing
Smoothes the sensor measurements.
The behavior of the smoothing algorithm can
be adjusted by a value ranging from −16 to
16. Higher values enhance the sensor
precision but reduce the sensor reactivity.
The smoothing algorithm can be deactivated
by checking the Disabled check box or
entering −17 in the smoothing field.
The measurement stabilization algorithm is
advised for application that need to measure
slowly moving objects with a high precision.
The application requiring to quickly track
moving objects, the stabilization should be
configured with a value lower than 0 or
simply deactivated.
Static Noise Removal
Disabling of the static noise
removal algorithm
The static noise in the full-waveform signal is
removed using predefined static noise
templates. These templates are determined
during the calibration process. The
calibration of the static noise can be
conducted by the user if required. The static
noise removal disabling checkbox is only
available with the integrator license. This
algorithm is enabled by default.
LED Control
LED power control options
Selects between manual & automatic power
control. In manual mode, the following
approximate relative LED intensity can be
selected: 10%, 20%, 35%, 55%, 75%, and
100%. In automatic, LED power is adjusted
according to incoming detection amplitudes.
The current LED power level is visible in the
Device State window.
* Distance measurements of objects detected with a low signal or saturated signal may have lower accuracy and
precision. It is recommended to set the LED intensity to a level that will provide a strong signal for the typical object and
range. Note that setting the LED intensity below 100% will reduce the detection range.

LeddarOne –User Guide Page 19 of 52
3.3.1. LED Intensity
There are a total of 6 supported LED power levels. Their approximate relative power is as follows:
10%, 20%, 35%, 55%, 75% and 100%.
The change delay defines the number of frames required before allowing the sensor to increase
or decrease by one the LED power level. For example, with the same change delay, the
maximum rate of change (per second) of the LED power will be two times higher at 17.6 Hz than
at 8.8 Hz.
NOTE: Since the change delay parameter is a number of measurements, the delay will vary if the
measurement rate is changed (through modification of the accumulation and oversampling
parameters).
Keeping the sensor in automatic LED power mode ensures it adapts to varying environments.
Close range objects may reflect so much light they can saturate the sensor, reducing the quality
of the measurements. This mode will adapt the light output within the change delay setting to
reach the optimal amplitude. On the other hand, low amplitudes provide lower accuracy and
precision. The automatic LED power mode will select a LED intensity that provides the highest
intensity that avoids the saturation conditions.
NOTE: When a strongly reflective or near object is present in the field of view while monitoring
farther distances, the automatic adjustment will reduce the effective range of the sensor (reduce
LED intensity) and may prevent detection of long range or low reflectivity objects. For these
applications, manual mode with LED power set to 100% may be a better setting.
3.3.2. Smoothing
The smoothing algorithm increases the precision of the measurements at the cost of the sensor
reactivity. The algorithm works by averaging consecutive measurements over a given time
history. The history length of the filter is continuously adapted as a function of the current
measurement noise level. It also changes according to the oversampling and accumulation
settings. The smoothing level of the algorithm can also be adjusted by a parameter ranging from
−16 to 16. Select the Disabled check box or set the value at −17 to disable smoothing. Higher
values increase the sensor precision but reduce the sensor reactivity. An example of the behavior
of the measurement smoothing algorithm is depicted in Figure 11 below.

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Figure 11: Measurement Stabilization Example
The red line represents the true target distance, the blue curve corresponds to the target distance
measured by the sensor without stabilization, while the green curve is the stabilized
measurements. One could notice that the measurement precision (standard deviation) is
dramatically improved by the stabilization algorithm.
NOTE: The smoothing algorithm is recommended for applications that need highly
precise measurements of slowly moving objects. For applications that tracks
quickly moving objects, it is advised to decrease the value of the stabilization
parameter or to disable the stabilization algorithm. Select the Disabled check
box or set the value at −17 to disable smoothing.
3.4. Measurement Rate
The sensor acquires a base input waveform at a rate of 72131 Hz (44 MHz/610). Multiple
acquisitions are used to perform accumulations and oversampling and generate a final waveform
that is then processed to detect the presence of objects and measure their position.
The final measurement rate is therefore:
   

For example, with 256 accumulations and an oversampling value of 8:
   
   
Table 5 below presents the measurement rate for typical values of accumulations and
oversampling.
020 40 60 80 100
8.9
8.905
8.91
8.915
8.92
8.925
8.93
8.935
8.94
8.945
8.95
Sample
Distance (m)
Smoothed
Disabled
True