Effects of Sensor Cover Damages on Point Clouds of Automotive Lidar

Birgit Schlager, Thomas Goelles, Daniel Watzenig

Research output: Chapter in Book/Report/Conference proceedingConference paperpeer-review


Safe automated driving requires reliable perception sensors with low fault rates. Detecting perception sensor faults before path planning avoids fault propagation through the processing pipeline of automated vehicles. As the basis for further development of fault detection algorithms, the present work presents effects of damaged lidar sensor covers considering scratches, cracks, and holes. We used an automotive lidar, which provides point clouds, and calculated deviations between the lidar points on a target and an ideal plane representing the target to evaluate the effect of damaged covers. Results show that sensor cover damages have an effect on point cloud data.

Original languageEnglish
Title of host publication2021 IEEE Sensors
PublisherInstitute of Electrical and Electronics Engineers
ISBN (Electronic)9781728195018
Publication statusPublished - 2021
Event20th IEEE Sensors: SENSORS 2021 - Virtuell, Australia
Duration: 31 Oct 20214 Nov 2021


Conference20th IEEE Sensors
Abbreviated titleSENSORS 2021


  • lidar
  • mechanical damage
  • sensor fault

ASJC Scopus subject areas

  • Electrical and Electronic Engineering


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