20.500.12556/RUL-179417 Modular lidar system for multiple field-of-view ranging This paper explores the possibility of distributing the fields of view (FOVs) of a centralized lidar cluster using fixed mirrors for future use in safety applications in robotics and elsewhere. A custom modular lidar system with time-over-threshold (TOT) walk error compensation was developed for the experiments. It comprises a control board that provides the processing power and adjustable voltage regulation, and multiple individually addressable analogue front end (AFE) boards that each contain a transmitter, a receiver, time-to-digital (TDC) converters for pulse width measurements on the bot Tx and Rx side, and adjustable reference voltage generators for both the Tx and Rx pulse detection threshold. The lidar system’s performance with a target in the direct line of sight is compared to the configurations where the FOV is redirected with up to three mirrors in different configurations. The results show that the light path through the neighboring mirrors introduces a minor but noticeable measurement error on a portion of the measurement range. lidar FOV redirecting mirrors modular walk error time-over-threshold lidar vidno polje preusmeritve zrcala hod meritve čas nad pragovno vrednostjo true false true Angleški jezik Slovenski jezik Članek v reviji 2026-02-13 08:42:13 2026-02-13 08:42:17 2026-02-14 04:24:42 0000-00-00 00:00:00 2024 0 0 16 str. issue 1, art. 84 Vol. 24 Jan.-1 2024 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 621.317 1424-8220 10.3390/s24010084 181119747 sensors-24-00084.pdf sensors-24-00084.pdf 1 F136925705BDB81A0A5EDFF00FB3CABC a1c64312e526b6c48f290f764cb03453c7d20c268e3bf3fb4b793f1c2cb5317c 90ba9b66-08af-11f1-a1ba-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=227909 https://www.mdpi.com/1424-8220/24/1/84 1 5964da2e-08af-11f1-a1ba-0050569b8976 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=227908 Fakulteta za elektrotehniko 0 0 0