Multi-beam lidar intensity calibration by interpolating learned response curve

A computer-implemented method of calibrating a multi-beam lidar, the method comprising:

• directing the multi-beam lidar at a target comprising a first panel having a first reflectance and a second panel having a second reflectance different than the first reflectance;
• measuring reflectance data describing a return of the multi-beam lidar reflected by the target;
• computing a first learned reflectance value for a first beam of the multi-beam lidar using the reflectance data;
• computing a second learned reflectance value for a second beam of the multi-beam lidar using the reflectance data;
• determining a first continuous reflectance value for the first beam, the first continuous reflectance value being based at least in part on the first learned reflectance value and a first confidence value associated with the first learned reflectance value;
• and
• determining a second continuous reflectance value for the second beam, the second continuous reflectance value being based at least in part on the second learned reflectance value and a second confidence value associated with the second learned reflectance value.

A lidar system, comprising:

• a target comprising at least two panels of different reflectance standards covering a calibration range;
• a multi-beam lidar;
• and
• a hardware processor programmed to perform operations comprising:
• measuring reflectance data describing a return of the multi-beam lidar reflected by the target, the target comprising a first panel having a first reflectance and a second panel having a second reflectance different than the first reflectance;
• computing a first learned reflectance value for a first beam of the multi-beam lidar using the reflectance data;
• computing a second learned reflectance value for a second beam of the multi-beam lidar using the reflectance data;
• determining a first continuous reflectance value for the first beam, the first continuous reflectance value being based at least in part on the first learned reflectance value and a first confidence value associated with the first learned reflectance value;
• and
• determining a second continuous reflectance value for the second beam, the second continuous reflectance value being based at least in part on the second learned reflectance value and a second confidence value associated with the second learned reflectance value.

A non-transitory machine-readable medium comprising instructions thereon that, when executed by at least one processor, cause the at least one processor to perform operations comprising:

• measuring reflectance data describing a return of a multi-beam lidar reflected by a target, the target comprising a first panel having a first reflectance and a second panel having a second reflectance different than the first reflectance;
• computing a first learned reflectance value for a first beam of the multi-beam lidar using the reflectance data;
• computing a second learned reflectance value for a second beam of the multi-beam lidar using the reflectance data;
• determining a first continuous reflectance value for the first beam, the first continuous reflectance value being based at least in part on the first learned reflectance value and a first confidence value associated with the first learned reflectance value;
• and
• determining a second continuous reflectance value for the second beam, the second continuous reflectance value being based at least in part on the second learned reflectance value and a second confidence value associated with the second learned reflectance value.