Lidar point cloud giving different depth for same surface

Software
1

Hello,

We are capturing Velodyne Lidar data for object having flat back (Truck) and load it in Veloview for visualisation. There is problem with seeing two borders for same flat back as seen from top view. It seems like same object is seen twice. Upon close look we found that some rows have distance ~40 meters and some rows have distance ~41 meters. This gap of 1 meters is much higher than lidar accuracy (less than 3 cm). This gap increases as object distance increases and vice versa.

Need your help to understand if:

  1. This behavior is expected sometimes and occurs due to the way lidars work, ex: issue related to ghosting or blooming
  2. Can this be fixed by making changes to lidar config file xml / json manually?
  3. For the same flat back surface of vehicle there is difference of 1 meters, how do we select the correct depth points / distance
  4. Any other ways to remedy this?

Thanks,
Manoj

2

Manoj: If possible, please post a screenshot of what you’re seeing. Based on the description, it might be that the sensor is not operating correctly. For an in-depth review, including providing PCAPs of the event, please create a technical support request at the following link:
https://ouster1234567.my.site.com/customers/s/techsupport

3

Thank you for your response, would it be possible to get into short 15 minutes teams / alternative call to discuss with actual data?

I also want to understand if the technical support data is confidential and not put on open forum.

Regards,
Manoj