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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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.
Original languageEnglish
Title of host publicationI2MTC 2020 - International Instrumentation and Measurement Technology Conference, Proceedings
Number of pages6
ISBN (Electronic)978-1-7281-4460-3
DOIs
Publication statusPublished - 28 May 2020
Event2020 IEEE International Instrumentation and Measurement Technology Conference - Virtuell, Croatia
Duration: 25 May 202028 May 2020

Conference

Conference2020 IEEE International Instrumentation and Measurement Technology Conference
Abbreviated titleIEEE I2MTC 2020
CountryCroatia
CityVirtuell
Period25/05/2028/05/20

Keywords

  • Automated driving
  • Autonomous vehicles
  • Distortion correction
  • LiDAR
  • Sensor systems

ASJC Scopus subject areas

  • Safety, Risk, Reliability and Quality
  • Instrumentation

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