An Approach of Angular and DistanceParameters Calibration for Typical Multi-LayerLidar Using 3D Standard Static Object

Multi-layer mechanical LiDARs are widely utilized in diverse applications. However, due to the time-of-flight principle and assembly limitations, systematic errors are inherent in such LiDAR systems. This paper presents a novel method for error analysis and calibration, addressing key parameters including measurement range, horizontal resolution angle, and vertical resolution angle of laser beams. High-precision laser rangefinders are employed as reference data for systematic error correction, while a 3D standard static object is introduced as a geometric benchmark to evaluate and enhance calibration effectiveness. The calibrated point cloud data exhibit better spatial consistency, aligning closely with the geometric structure of the 3D standard object. The error distributions before and after calibration follow a normal distribution, with confidence intervals of 0.6827 (\((k)\)=1) and 0.9973 (\((k)\)=3). Vertical angular errors symmetrically increase from the 15th beam outward, while horizontal angular errors remain stable at approximately 0.0061°. The root mean square error (RMSE) decreases to 0.0065 after calibration. This method is flexible, cost-effective, and applicable to a wide range of multi-layer LiDARs, including the HDL-32E.