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Pavo - SIMO

What does angular resolution mean?

The image output by LiDAR is also known as a “point cloud” image, and the angle between adjacent points is the angular resolution. Star second PAVO provides a maximum angular resolution of 0.08 °.


A point cloud image represents one frame, corresponding to the inside of the LiDAR where the motor rotates once to complete the scanning. The frame rate represents the number of rotations of the laser radar motor in one second, which is the number of times one scan is completed per second.

Due to the fixed sampling rate of LiDAR, the higher the frame rate, the lower the angular resolution; The lower the frame rate, the higher the angular resolution. The minimum angular resolution of PAVO is 0.08 °, which corresponds to a frame rate of 10Hz. When the frame rate is set to 20Hz, the angular resolution automatically becomes 0.16 °.

The sampling rate represents the number of effective acquisitions made by the LiDAR per second, which can be intuitively understood as the number of point clouds generated in one second. The sampling rate can be calculated through angular resolution and frame rate: at an angular resolution of 0.08 °, the number of point clouds per frame is 4500, which is 360 °/0.08 °;
If there are 10 frames per second, then the number of point clouds per second is 4500 × 10=45000;
So the sampling rate of PAVO is 45kHz.

Lidar is based on the principle of optical detection, and the laser will pass through transparent glass, causing a certain probability of missed detection. We suggest adding some auxiliary reflection methods when using glass in many scenarios, such as pasting frosted stickers or using other non optical sensors as supplements.

Our radar products comply with Class I laser eye safety standards, and their laser intensity is below the damage threshold of the human eye, so they will not cause harm to the eyes. Of course, we still recommend not to stare directly at the LiDAR for long periods of time and avoid placing it at the same height as the eye level during installation.

The ranging of LiDAR relies on the reflection of laser on the target object, with white surfaces having high reflectivity and black surfaces having low reflectivity. Different reflectivity can cause differences in the effective range of the radar.

The TOF scheme is based on time-of-flight measurement, while the triangular radar is based on geometric optical operations.

Point cloud data merging refers to merging adjacent points into one point, which can reduce the amount of data in the image and increase the stability of the point cloud.

PAVO sends a laser pulse to complete the measurement every time it samples. The ideal laser pulse hitting the target is a point, but in reality, there is a certain divergence angle when the laser is emitted, and the light spot when hitting the object is a surface. Therefore, when there are two objects in front and behind, and the laser hits the edge of the object in front, it is possible that some of the laser energy is focused on the object behind, and the returning light is the superposition of the reflected light from the two light spots. At this point, the radar will determine that the measurement target is between these two surfaces, causing a trailing phenomenon.


The trailing phenomenon needs to be removed with the help of algorithms, and the Star Second radar suite software provides point cloud elimination algorithms that can effectively improve the trailing phenomenon.

Xingshi provides a comprehensive SDK, written in C++language, supports secondary development, and is compatible with operating environments such as Windows, Linux, and ROS.

RichBeam -LakiBeam

Can LiDAR detect transparent glass?

Lidar is based on the principle of optical detection, where the laser passes through transparent glass, resulting in a certain probability of missed detection. We suggest adding some auxiliary reflection methods when using glass in many scenarios, such as pasting frosted stickers or using other non optical sensors as supplements.

Lidar emits a pulsed laser through a laser and starts a timer. When the laser hits the target surface, it undergoes diffuse reflection and returns to the photodetector. The photodetector receives the signal and stops the timer. At this point, we obtain the time difference between the laser receiving and emitting, which is the flight time of the light. The distance traveled by light is obtained by multiplying the speed of light by its flight time, which calculates the distance between the device and the measurement target.

After connecting the laser to the USB to Type-C cable, enter 192.168.8.2 in the browser and visit the radar web page again to obtain it

After entering the radar webpage through the default URL, configure it on the Lidar Configuration page

Note: When modifying the radar IP, it is necessary to ensure that the host IP and sensor IP remain in the same network segment.

No, the outer cover of the radar is part of our radar optical system. If a transparent cover is installed outside, it will affect the optical path to some extent, thereby affecting the point cloud effect.

Not Supported

Support, please consult technical personnel for related firmware.

The radar defaults to emitting laser from 45 ° and stops emitting laser at 315 °. The angle of light emission can be adjusted through the web service page between 45 ° and 315 °.

The laser radar end beam involves all processes in the production process and should not be customized unless necessary. If customization is necessary, it is necessary to contact technical personnel to evaluate the feasibility of the technology.

On the official website or Gitee, download the SDK from Gitee website: https://gitee.com/richbeam/lakibeam1-SDK.git ；

ROS Gitee website: https://gitee.com/richbeam/Lakibeam1-ROS.git

Download from the official website, if not found, please contact the business personnel.

RBView has Windows and Ubuntu versions, but currently does not have a MAC version.

RBView is compatible with Windows 10 and above and Ubuntu 20.04.

Under Windows, check the configuration of the network interface card IP. The firewall’s permission to operate RBView (requires allowing RBView to pass through the firewall), and all firewalls need to be turned off. Set to run with administrator privileges and check if the RBView port configuration is correct;

Under Ubuntu, check the IP configuration, firewall, and RBView port configuration for correctness.

Connect the radar and computer with an Ethernet cable, and change the IPV4 IP address of the computer to the same network segment as the radar IP address;

The default modification is the following IP address:

IP: 192.168.198.1//The default IP for the radar is 192.168.198.2

Subnet mask: 255.255.255.0 gateway is not required

Provide a 9-36V DC power supply to the radar, wait for several seconds, and then start connecting the radar to the upper computer.

Use ifconfig to confirm if the port IP has been successfully modified. Try unplugging the laser radar power supply and reconnecting the radar. If the issue persists, please contact Ruichi Zhiguang technical support personnel.

The organization in RBView is m, and the organization in SDK is mm.

The data saving function of RBView currently only supports pcap and csv formats. If other formats are required, customers need to write their own code to save them.

Please refer to the ROS driver user manual for Gitee. If there are compilation errors, please check if the relevant dependencies are installed. If there are errors during use, please refer to the problem diagnosis in the user manual.

Lakibem1_SOS-Drivers: Lakibem1 series laser radar ROS driver

I won’t.

Lakibeam sends a laser pulse to complete the measurement every time it samples. The ideal laser pulse hitting the target is a point, but in reality, the laser emission has a certain divergence angle, and the light spot when hitting the object is a surface. Therefore, when there are two objects in front and behind, and the laser hits the edge of the object in front, it is possible for some of the laser energy to hit the object behind, and the returning light is the superposition of the reflected light from the two light spots. At this point, the radar will determine that the measured target is between these two surfaces, causing a tailing phenomenon. The radar of Ruichi Zhiguang can modify the filtering strength on the web page, effectively improving the trailing phenomenon.

No, the LiDAR has already obtained Class 1 eye safety certification based on the IEC/EN60825-1:2014 international standard.

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