Toposens TS3 Configuration Manual Download Page 5

Peak Detection Window

5

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The Peak Detection Value defines the length of echoes processed into a single object. This value enables the fusion of complex
surfaces into less points. Additionally noise can be filtered out even when using small echo detection thresholds. Additionally the
stability of the point detection is enhanced due to more echo location data being processed.

Peak Detection Window

Command

sPeak

Effect

Sets the kernel size (window width) that is applied on raw ADC signals to detect valid echoes (peaks in the raw
ADC signal). A low value will allow for better separation of multiple objects that are close to each other. A high
value will result in "smoother" and more stable detections

Parameter

5-digit unsigned integer representing the window width size of the the object filter

Applicable Values

Default = 3, min. = 1, max. = 5

Example

CsPeak00003\r

for size of 3

Please note the tendency of smaller objects to fuse when higher values are configured. Smaller objects with similar relative
position to the sensor as bigger objects are fused with the bigger object. Note that each object fusion will change the resulting
coordinates of the bigger objects weighted by the amplitudes of both objects. Smaller objects in close proximity to bigger objects
tend to disappear if the window size is set to values above 2.

Small (1-2) = Small Window Size

Medium (3-4) = Medium Window Size

Large (5) = Large Window Size

The Small and Medium
configuration fits best for
most purposes. A value of
1 is best for close range
applications.

On

the

Medium

configuration

small

objects with proximity to
bigger objects can fuse.

The Large window setting
is

fusing

even

bigger

objects. It can be used for
distance

detection

to

avoid noise.

Summary of Contents for TS3

Page 1: ... V 1 0 08 2020 Initial release PRELIMINARY PROTOTYPE The Sensor configuration changes the behavior and the data quality The Sensor can not be damaged by configuration 1 Toposens TS3 Visualizer Operation Manual and Documentation 1 Disclaimer of Liability 1 Document Version 1 Table of Contents 1 Configuration 2 Explanation of Sensor Functionality 2 Graphic Explanation 3 Number of Pulses 3 Echo Rejec...

Page 2: ... 8 min 0 max 20 Example CsPuls00010 r for 10 pulses Peak Detection Window Command sPeak Effect Sets the kernel size window width that is applied on raw ADC signals to detect valid echoes peaks in the raw ADC signal A low value will allow for better separation of multiple objects that are close to each other A high value will result in smoother and more stable detections Parameter 5 digit unsigned ...

Page 3: ...cates the sensor position and heading while the red dots show the actual object positions e g pole or sphere in this case The size of the red circles indicate the size of the real objects while the grey circles indicate the sensors perception of the acoustic reflection Less visible brighter colored circles indicate less loud echoes In the following explanations a single parameter is changed at a t...

Page 4: ...e00001 r for a threshold of 1 Low 0 1 Low Amplitude Threshold Medium 2 4 Medium Amplitude Threshold Medium 5 20 High Amplitude Threshold Low values for the echo rejection threshold result in lots of instable points Those points are not necessarily noise but small reflections which can not be located continuously Medium values allow for the most versatile sensor configuration Noise is not as promin...

Page 5: ...unsigned integer representing the window width size of the the object filter Applicable Values Default 3 min 1 max 5 Example CsPeak00003 r for size of 3 Please note the tendency of smaller objects to fuse when higher values are configured Smaller objects with similar relative position to the sensor as bigger objects are fused with the bigger object Note that each object fusion will change the resu...

Page 6: ...ts Additional post processing likely needed to filter noise This setting is enabling the lowest false positive rate while increasing the false negative rate Good for medium distance obstacle avoidance Small objects are likely to be ignored if not close to the sensor Low noise level combined with a reasonable detection area Due to the high pulsed volume accuracy issues may occur Due to the high pea...

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