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This paper proposes a simple self-calibration method for the internal timesynchronization of MEMS(Micro-electromechanical systems) LiDAR during researchand development. Firstly, we introduced the problem of internal timemisalignment in MEMS lidar. Then, a robust Minimum Vertical Gradient(MVG) prioris proposed to calibrate the time difference between the laser and MEMS mirror,which can be calculated automatically without any artificial participation orspecially designed cooperation target. Finally, actual experiments on MEMSLiDARs are implemented to demonstrate the effectiveness of the proposed method.It should be noted that the calibration can be implemented in a simplelaboratory environment without any ranging equipment and artificialparticipation, which greatly accelerate the progress of research anddevelopment in practical applications.

A Simple Self-calibration Method for The Internal Time Synchronization of MEMS LiDAR