Toposens TS3 Configuration Manual Download Page 6

Configuration Parameter Interaction

6

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The parameter interaction can not be described in full detail. To give an overview reasonable high values are combined with
reasonable low values to show the influences of the parameter interaction to the resulting point cloud. In application cases a
combination of minimum and maximum values as showed below is not feasible. Medium values work best for most use cases.

No.

Pulse

Thre.

Win.

Example

1

-

(1-3)

-

(0-1)

-

(1)

2

+

(8-12)

-

(0-1)

-

(1)

3

-

(1-3)

+

(5-10)

-

(1)

4

+

(8-12)

+

(5-10)

-

(1)

5

-

(1-3)

-

(0-1)

+

(5)

6

+

(8-12)

-

(0-1)

+

(5)

7

-

(1-3)

+

(5-10)

+

(5)

8

+

(8-12)

+

(5-10)

+

(5)

In this configuration, noise will be visible while small
objects can be detected and differentiated. Use this or a
similar configuration if close range detection of small
objects is needed.

Noise will be clearly visible while objects at all distances
are detected. Useful for outdoor / clear space use cases
with all sizes of objects. 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 peak detection window, noise level are
low. Objects can be detected but in general this setting is
a valid option for close range detection.

The long signal in combination with the large peak
detection window causes a higher number of fusion
between objects in close proximity. Good for outdoor /
free space use cases with big objects and low noise
levels.

The small signal in combination with the restrictive filters
results in less points (more false negatives) while being
less accurate due to the low amplitude signal.

All max setting. Not recommended for most use cases
but sometimes useful for human interaction (Gesture
control, People Detection).

⚠️

The following parameter combinations are exaggerated to show comprehensible configuration results.

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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