User Guide

RS-LiDAR-16 User Manual

7 Key Features

7.1 Return Mode

7.1.1 Return Mode Principle

RS-LiDAR-16 supports multiple return modes: Strongest return, Last return and Dual return. When set

to dual return mode, the details of the target will be enhanced, and the number of points is twice than

that of a single return.

Due to the divergence of the beam, it is possible to generate multiple laser returns with one laser

emission. When the laser pulse is emitted, its light spot gradually becomes larger. Suppose a light spot

is large enough to shot multiple targets and produce multiple returns. Generally, the farther away the

target is, the weaker it will be at the receiver, while the retro reflective surface may be the opposite.

RS-LiDAR-16 analyzes the received multiple return values and outputs the strongest, last or

simultaneous output of these two return values depending on the setting. If set to the strongest return

mode, only the strongest return value is output. Similarly, if the setting is the last return mode, only the

last return value is output; if set to double return mode, the strongest and last return information is

output simultaneously.

Note: Only when the distance between two objects is greater than 1 meter, the LiDAR could distinguish these

two returns.

7.1.2 The Strongest Return

When the LiDAR beam hits only one object, there is only the strongest return at this time.

7.1.3 Strongest, Last and Dual Returns

When the laser pulse hits two objects at different distances, there will be two return wave, then it will

lead two situations:

(1) When the strongest return is not the last return, return the strongest and last return;

(2) When the strongest return is also the last return, return the strongest return and the second

strongest return;

7.1.4 Return Mode Flag

The factory default setting for RS-LiDAR-16 is the Strongest Return mode. If you need to change the

settings, please refer to Figure C-14 in Appendix C of this user manual. The 300th Byte in the DIFOP is

the flag of the return mode, which corresponds to the following: