Figures of Merit, Testing, and Calibration for LiDAR

We need to be able to quantitatively measure the performance of a LiDAR. This will be more difficult than measuring the performance of a traditional 2D sensor because we have more dimensions to measure. The most common LiDAR is a 3D LiDAR, which involves measuring range response as well as angle/angle response. This chapter first discusses LiDAR figures of merit, which are the characteristics we need to measure to determine LiDAR performance (the discussion may not describe how to measure all of the figures of merit). Simple direct-detection LiDAR will not have as many relevant figures of merit as a coherent LiDAR. Next, the chapter discusses LiDAR testing, focusing primarily on 3D direct-detection LiDAR. Finally, to obtain optimum performance, we need to calibrate the LiDAR. The chapter concludes by providing methods to remove intensity and range measurement nonuniformities. Again, this discussion on calibration will focus on 3D directdetection LiDAR.