APPARATUS AND METHOD FOR COMPENSATING FOR BEAM ANGLE OF MULTI-LAYER LiDAR

An apparatus for compensating for a beam angle of a multi-layer LiDAR, comprising:

• a storage unit configured to store a mounting height h and an initial beam angle of the multi-layer LiDAR;
• a beam receiving unit configured to receive a beam returning after being emitted to a bottom layer;
• a ground data detection unit configured to detect the beam as ground data when a pulse width of the beam received by the beam receiving unit exceeds a first threshold value and a distance calculated by using the beam exceeding the first threshold value is in a first threshold range;
• a beam angle calculation unit configured to calculate a distance d calculated by using the ground data detected by the ground data detection unit and the beam angle of the multi-layer LiDAR by using the mounting height of the multi-layer LiDAR stored in the storage unit;
• a beam angle selection unit configured to select the calculated beam angle as the beam angle when the beam angle calculated by the beam angle calculation unit is in a second threshold range;
• and
• a beam angle compensation unit configured to compensate for the initial beam angle by using the beam angle selected by the beam angle selection unit