工業技術研究院

技術簡介

光達(Light Detection and Ranging, LiDAR)系統 使用雷射脈衝回波描繪偵測區域景深圖，所接收的回波 信號主要受光通道非理想效應干擾，並且受待測物反射 率影響而弱化，致使景深圖失真。藉由信號處理技術， 可將回波信號強化並降低雜訊干擾，提升所繪製點陣雲 精度。另外，可將雷射偵測信號編碼，進一步區分不同 使用者或做數據交換。

Abstract

Light detection and Ranging (LiDAR) system uses the echo from the reflected laser pulses to delineate the depth map of the detecting area. The received echo signal is mainly interfered by the non-ideal effect of the optical channel, and it is also weakened with respect to the reflecting ratio of the objects, resulting in the distortion of the depth map. With signal processing technology, the echo signal can be enhanced, and the interference can be reduced for better accuracy of the point cloud. In addition, the laser detection signal can be encoded to further distinguish between different users or to perform data exchange.

技術規格

信號處理技術包含： 1.濾波器： 可程式化帶通濾波，用以移除通道雜訊。另外可內插信 號，提升量測精度。 2.高點數快速傅立葉轉換： 觀察時間軸偵測信號的頻率特性，估測光通道頻率響應 以供等化與校正，計算傳送射脈衝與接收信號之間時間 延遲，降低系統運算複雜度。 3.信號調變與編碼： 產生獨特偵測信號以區別不同使用者，並可進行數據通 訊。 4.最大期望演算法(Expectation-Maximization Algorithm)： 藉由疊波分離進行半遮蔽物穿透偵測。 5.可程式化邏輯閘(FPGA)系統整合： 快速建立原型機以供實驗環境量測與量產測試準備。

Technical Specification

The signal processing technology includes: 1.Filter: The programmable bandpass filtering removes the channel noise. In addition, the interpolation filter helps to improve the measurement accuracy. 2.High points fast Fourier transform (FFT): The FFT can generate the frequency spectrum of the time domain detecting signal, and the converted information can be applied in estimating the optical channel frequency response for equalization and ratification. The complexity of calculating the time delay between the transmitted pulses and the received echo can also be reduced. 3.Signal modulation and coding: The modulation is designed to generate unique detection signals to distinguish between different users, and the carrier signal can be modulated with data for communication. 4.Expectation-Maximization Algorithm: Semi-shield penetration detection is performed by stacking separation. 5.FPGA System Integration: The capability of fast prototyping is very helpful in experimental environmental measurement and production test preparation.

技術特色

藉由數位信號處理技術，可有效率估測通道環境，將接收信號降噪、放大、或是提高量測精度，加入統計信號處理技術，進而 能夠提供進階功能，例如將疊波分離後達成半遮蔽物偵測與移除，搭配FPGA硬體平台，做到即時偵測即時顯像的整合產品。

應用範圍

自動駕駛、環境探測、國防工業、自動畫設備、人工智慧。

接受技術者具備基礎建議（設備）

雷射光學信號產生與接收硬體設備。

接受技術者具備基礎建議（專業）

數位信號處理，數位電路設計。

聯絡資訊