Fig. 1. The principle of hybrid solid-state LiDAR 3D imaging

Fig. 2. Position relationship of target points in the radar coordinate system

Fig. 3. The minimum bounding rectangle and normalized cube of the target point cloud

Fig. 4. Experimental hybrid solid-state LiDAR

Fig. 5. Micro spots of the laser pulse diverge at the edges

Fig. 6. Testing scenario of the trailing problem

Fig. 7. The actual phenomenon of the trailing problem

Fig. 8. Analysis of echo intensity of target points

Fig. 9. Process flow of denoising method for target point clouds

Fig. 10. The effect of denoising algorithm on removing trailing point clouds

Fig. 11. Points and diameter fitting of table tennis at different working distances

Fig. 12. Imaging effect of table tennis balls with different colors

Fig. 13. The imaging intensity pattern of different surface colors

Fig. 14. Schematic diagram of dynamic testing site

Fig. 15. Imaging of dynamic process of the tested table tennis

Fig. 16. Diameter fitting error of the tested ball at different motion speeds and frame rates

Fig. 17. Test scenario and target imaging

Fig. 18. Lidar imaging of the interest target

Fig. 19. Comparison of 2D and 3D measurements of targets