Retro-Reflector 및 LiDAR의 복귀 빔 강도를 이용한 이동체 위치추정 알고리즘

Abstract

This paper relates to the implementation of moving object position estimation by Pulsed LiDAR that can detect objects with high precision, speed, and spatial resolution. LiDAR measures the distance by calculating a return travel time when target is reflected. The retro-reflector, regardless of incident angle, can be reflected horizontally in the incident direction. This algorithm proposes a new approach method using LiDAR and retro-reflectors. According to the above algorithm, position can be determined by automatically detecting 90% of the reflected return beam intensity from moving objects to which the retro-reflector is attached. When this algorithm was applied indoors, it was possible to locate the position of the scanner accurately within ±5 mm error in 2,500 × 2,500 (mm) space. Also, it can detect a space of up to 5,000 × 5,000 (mm), making this an effective method for determining the position of a moving object in indoors.