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