Towards a Multi-Perspective Time of Flight Laser Ranging Device Based on Mirrors and Prisms

This paper investigates the feasibility of redirecting field view (FOV) a light-based time-of-flight (ToF) ranging device, commonly known as pulsed lidar, using fixed mirrors and prisms for possible future use in robotics. The emphasis is on configurations where FOV redirection element positioned beyond device’s dead zone. A custom made direct ToF device with time-over-threshold (TOT)-based walk error compensation was used to evaluate effects optics range measurement accuracy precision. tests include clean prism anti-reflective (AR) coating its legs, well regular first surface mirror both dusted state. study finds be unsuitable due parasitic reflections, which ruin data. were found have no noticeable effect accuracy. When they are dusty, introduce negative error. most pronounced when toward end partial zone rangefinder, but loses influence moved farther away. attributed reflection off dust mirror, reduces time detection pulse reflected real target, interferes by widening detected pulse.