Method for identification of a noise point used for lidar, and lidar system

A Lidar system comprising:

• an emitting apparatus comprising:
• a supporting body disposed along a vertical direction of the Lidar system;
• a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns;
• and
• a collimating lens assembly configured to reduce a divergence angle of emitted laser beams;
• a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams onto the plurality of detectors;
• and
• a rotor configured to rotate the emitting apparatus and the receiving apparatus about a rotating shaft;
• wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner that are parallel with the rotating shaft, lasers of the first and second groups are spaced by a same interval;
• and
• wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

A Lidar system comprising:

• an emitting apparatus comprising a supporting body disposed along a vertical direction of the Lidar system and a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns;
• a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams into the plurality of detectors;
• a rotor configured to rotate the supporting body and the receiving apparatus about a rotating shaft;
• a rotation cavity containing the emitting apparatus and the receiving apparatus;
• a first circuit board disposed at a bottom part of the rotation cavity;
• a second circuit board disposed below the first circuit board;
• and
• a base to which the second circuit board is fixed;
• wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner that are parallel with the rotating shaft, lasers of the first and second groups are separated by a same interval;
• and
• wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers.

A Lidar system comprising:

• an emitting apparatus comprising:
• a supporting body disposed along a vertical direction of the Lidar system;
• a plurality of lasers disposed on the supporting body and configured to emit laser beams respectively, wherein the plurality of lasers are arranged in a plurality of columns;
• and
• a collimating lens assembly configured to reduce a divergence angle of the emitted laser beam;
• a receiving apparatus comprising a plurality of detectors and a focusing lens assembly configured to converge an echo beams into the plurality of detectors, wherein the emitting apparatus and the receiving apparatus are disposed symmetrically about a mid-vertical plane of a line that connecting a center of the collimating lens assembly to a center of the focusing lens assembly;
• and
• a rotor configured to rotate the supporting body and the receiving apparatus about a rotating shaft,
• wherein the plurality of columns comprise a first column comprising a first group of lasers and a second column comprising a second group of lasers, the first group of lasers and the second group of lasers are respectively arranged in a collinear manner that are parallel with the rotating shaft, lasers of the first and second groups are separated by a same interval;
• wherein the second group of lasers are horizontally and vertically displaced from and crisscross the first group of lasers;
• and
• wherein the plurality of columns further comprises a third column comprising a third group of lasers, wherein the third group of lasers crisscross both the first and second groups of lasers.