Figure 6.

(a) Real setup to validate the time domain and point cloud data. (b) Static simulation scene to validate the time domain and point cloud data. The 3%-reflective target with an area of $1.3$ $\mathrm{m}$ × $1.3$ $\mathrm{m}$ was placed in front of the sensor at different distances. The actual and the simulated sensor and target coordinates are the same. The ground truth distance $d_{GT}$ is calculated from the sensor’s origin to the target’s center.