Increased accuracy for fast moving LiDARS: Correction of distorted point clouds

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Abstract

For a long time LiDAR sensors have been used in special purpose applications in robotics to perceive the environment. By the evolution of automated driving to higher levels of automation, LiDAR sensors gain more and more importance also in the automotive domain. Currently, LiDAR is about to become one of the most important sensor technologies enabling automated driving. To limit the emitted power due to safety, state of the art LiDAR sensors scan the environment, which needs time. This scan produces a cloud of points. In this publication the distortion of the LiDAR measurement due to a moving sensor unit is analyzed and a compensation is proposed. That correction, also taking time delays into account, is applied within an autonomous racing application using the LiDAR sensor for localization. Finally, the advantage using the correction is discussed.
Originalspracheenglisch
TitelI2MTC 2020 - International Instrumentation and Measurement Technology Conference, Proceedings
Seitenumfang6
ISBN (elektronisch)978-1-7281-4460-3
DOIs
PublikationsstatusVeröffentlicht - 28 Mai 2020
Veranstaltung2020 IEEE International Instrumentation and Measurement Technology Conference: IEEE I2MTC 2020 - Virtuell, Dubrovnik, Kroatien
Dauer: 25 Mai 202028 Mai 2020
https://i2mtc2020.ieee-ims.org/

Konferenz

Konferenz2020 IEEE International Instrumentation and Measurement Technology Conference
KurztitelIEEE I2MTC 2020
LandKroatien
OrtVirtuell, Dubrovnik
Zeitraum25/05/2028/05/20
Internetadresse

ASJC Scopus subject areas

  • !!Safety, Risk, Reliability and Quality
  • !!Instrumentation

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