Abstract
This paper describes the first simulations and experimental results of a novel segmented Light Detection And Ranging (LiDAR) reflector. Large portions of the rotating LiDAR data are typically discarded due to occlusion or a misplaced field of view (FOV). The proposed reflector solves this problem by reflecting the entire FOV of the rotating LiDAR towards a target. Optical simulation results, using Zemax OpticStudio, suggest that adding a reflector reduces the range of the embedded LiDAR with only %. Furthermore, pattern simulation results show that a radially reshaped FOV can be configured to maximize point cloud density, maximize coverage, or a combination. Here, the maximum density is defined by the number of mirror segments in the reflector. Finally, a prototype was used for validation. Intensity, Euclidean error, and sample standard deviation were evaluated and, except for reduced-intensity values, no significant reduction in the LiDAR’s performance was found. Conversely, the number of usable measurements increased drastically. The mirrors of the reflector give the LiDAR multiple viewpoints to the target. Ultimately, it is argued that this can enhance the object revisit rate, instantaneous resolution, object classification range, and robustness against occlusion and adverse weather conditions. Consequently, the reflector design enables long-range rotating LiDARs to achieve the robust super-resolution needed for autonomous driving at highway speeds.
Highlights
Light Detection And Ranging (LiDAR), an acronym for Light Detection and Ranging, uses laser pulses to take range measurements employing the time-of-flight measurement principle
LiDARs cannot see colors, they have several other properties that favorably apply to automotive and industrial perception systems. It can obtain much higher spatial resolution owed to the shorter wavelengths, and it will not see through dense fog, rain, or snow, it performs much better than visible spectrum cameras in adverse weather conditions [1]
Flat mirrors were used to avoid divergence of the collimated beam This reflector design allows the centrally placed spinning LiDAR to obtain multiple point of view (POV) measurements of objects placed in zones that are overlapped by multiple mirrors
Summary
LiDAR, an acronym for Light Detection and Ranging, uses laser pulses to take range measurements employing the time-of-flight measurement principle. From these measurements, combined with the LiDAR pose, it is possible to generate a 3D map of the environment. LiDARs cannot see colors, they have several other properties that favorably apply to automotive and industrial perception systems. Compared to radar, it can obtain much higher spatial resolution owed to the shorter wavelengths, and it will not see through dense fog, rain, or snow, it performs much better than visible spectrum cameras in adverse weather conditions [1]. While camera triangulation ranging precision falls as the distance to the target increases, LiDAR’s precision can theoretically remain constant [2]
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