US 12,259,500 B2
Method for determining and compensating stray light from a 3D laser scanner
Christoph Fröhlich, Wangen im Allgäu (DE); and Markus Mettenleiter, Isny im Allgäu (DE)
Assigned to ZOLLER & FRÖHLICH GMBH, Wangen im Allgäu (DE)
Filed by Zoller & Fröhlich GmbH, Wangen im Allgäu (DE)
Filed on Apr. 2, 2021, as Appl. No. 17/221,735.
Claims priority of application No. 10 2020 109 568.6 (DE), filed on Apr. 6, 2020.
Prior Publication US 2021/0311176 A1, Oct. 7, 2021
Int. Cl. G01S 7/493 (2006.01); G01S 7/4915 (2020.01); G01S 17/42 (2006.01); G01S 17/89 (2020.01)
CPC G01S 7/493 (2013.01) [G01S 7/4915 (2013.01); G01S 17/42 (2013.01); G01S 17/89 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for determining and compensating a proportion of stray light of a measuring beam of a 3D laser scanner by which a 3D point cloud of an object to be detected is generated through phase-based distance measurement, comprising:
determining, during a first step sequence, first parameters of the proportion of stray light independently of the 3D point cloud;
determining, during a second step sequence, second parameters of the proportion of the stray light dependent on the generated 3D point cloud;
selecting whether the first parameters of the proportion of the stray light determined during the first step sequence or the second parameters of the proportion of the stray light determined during the second step sequence or both the first parameters of the stray light determined during the first step sequence and the second parameters of the stray light determined during the second step sequence is/are applied for determining the proportion of the stray light; and
compensating the proportion of stray light as a function of the first parameters of the proportion of the stray light determined during the first step sequence and/or the second parameters of the proportion of the stray light determined during the second step sequence.