Scanning LiDAR (pulsed direct Time-of-Flight) L1-096
Unclaimed Principle — open for contribution
This Principle is declared in the catalog but has no reference solver, no pinned dataset, and is not registered on-chain. There is no reward pool. Submitting a cert against this Principle today will record the cert for reproducibility but pay zero PWM.
To claim it as a Bounty #7 contribution: open a PR adding (1) a reference solver, (2) ≥1 dataset pinned to IPFS, (3) updates to the L3 manifest with dataset CIDs. After verifier-agent triple-review, the founders' 3-of-5 multisig signs PWMRegistry.register() and the Principle becomes mineable.
Forward model E
A short laser pulse (~ns) is emitted toward a target point. A photodetector (APD or SPAD) records the return timestamp t; round-trip distance d = c * t / 2. A scanning mirror / MEMS / OPA steers the beam over the scene to build a 3D point cloud; automotive sensors typically deliver 10-100 Hz scans with 64-128 channels.
L-DAG
Well-posedness W
- Existence:
- true
- Uniqueness:
- true
- Stability:
- conditional
- κ:
- 500
Well-posed when returned pulse SNR > 10 dB. Atmospheric attenuation alpha_atm(d) = exp(-gamma * d) cuts range quadratically at rain/fog; retroreflective surfaces saturate the receiver; motion distortion (rolling-shutter of scan) biases point cloud during ego-motion.
Solvability C
- Solver class:
- leading-edge / matched-filter timing, TDC + constant-fraction-discriminator, learned (DeepLidar, PointNet++ denoise, RangeNet++)
- Convergence rate q:
- 2
- Complexity:
- O(M_h * M_v) per scan; O(N_scan * N_points * log N_points) for point-cloud registration