Apparatus and method for calibrating three-dimensional scanner and optimizing point cloud data

A method for calibrating a light detection and ranging (LiDAR) device is provided. The calibration method is related to an iterative loop. By performing the calibration method, an initial point cloud matrix is generated using input point clouds, and an initial offset profile in the form of a function of distance and angle of incidence is calculated. The initial point cloud matrix may be optimized by the initial offset profile, and then a next iteration point cloud matrix is generated. In the iterative loop, the optimization may be performed one or more times, and the output of the final iteration includes a final point cloud and a final offset grid. The final point cloud may contain measured distance information proximate to physical distance information. The final offset grid contains a function representing information regarding calibration or modification of measurements of the LiDAR device. 提供一种用于校准光检测与测距(LiDAR)设备的方法。所述校准方法是迭代环路所涉及的。通过执行所述校准方法，使用输入的点云来生成初始点云矩阵，且计算距离和入射角的函数的形式的初始偏移简档。所述初始点云矩阵可通过所述初始偏移简档优化，