Diffuse direct time-of-flight LiDARs report per-pixel depth histograms formed by aggregating photon returns over a wide instantaneous field of view, violating the single-ray assumption behind standard LiDAR-RGB calibration. We present a simple spatial calibration procedure that estimates, for each diffuse LiDAR pixel, its footprint (effective support region) and relative spatial sensitivity in a co-located RGB image plane. Using a scanned retroreflective patch with background subtraction, we recover per-pixel response maps that provide an explicit LiDAR-to-RGB correspondence for cross-modal alignment and fusion. We demonstrate the method on the ams OSRAM TMF8828.

翻译：漫反射直接飞行时间激光雷达通过聚合宽视场内的光子回波生成逐像素深度直方图，这违背了标准激光雷达- RGB标定所依赖的单射线假设。我们提出一种简易的空间标定方法，可为每个漫反射激光雷达像素估算其在共位RGB图像平面中的覆盖区域（有效支撑域）及相对空间灵敏度。通过扫描逆反射片并实施背景差分处理，我们重建出逐像素响应图谱，为跨模态对齐与融合提供明确的激光雷达- RGB对应关系。本方法已在ams OSRAM TMF8828器件上得到验证。