Abstract
Abstract. 3D LiDAR sensors play an important part in several autonomous navigation and perception systems with the technology evolving rapidly over time. This work presents the preliminary evaluation results of a 3D solid state LiDAR sensor. Different aspects of this new type of sensor are studied and their data are characterized for their effective utilization for object detection for the application of Autonomous Ground Vehicles (AGV). The paper provides a set of evaluations to analyze the characterizations and performances of such LiDAR sensors. After characterization of the sensor, the performance is also evaluated in real environment with the sensors mounted on top of a vehicle and used to detect and classify different objects using a state-of-the-art Super-Voxel based method. The 3D point cloud obtained from the sensor is classified into three main object classes “Building”, “Ground” and “Obstacles”. The results evaluated on real data, clearly demonstrate the applicability and suitability of the sensor for such type of applications.
Highlights
3D LiDAR (Light Detection And Ranging) sensors have proved to be an integral part different autonomous navigation and perception applications, ever since the first implementations of SLAM (Simultaneous Localization And Mapping) for robotics (Thrun, 2002) and practical demonstrations on vehicles (Thrun et al, 2006), LiDARs have had an important role in realizing high accuracy occupancy maps and 3D point clouds
Different aspects of this new type of sensors are studied and their data are characterized for their effective utilization for object detection for the application of autonomous ground vehicles (AGV)
After characterization of the sensor, the performance is evaluated in real environment with the sensors mounted on top of a vehicle and used to detect and classify different objects using a state-of-the-art Super-Voxel based method
Summary
3D LiDAR (Light Detection And Ranging) sensors have proved to be an integral part different autonomous navigation and perception applications, ever since the first implementations of SLAM (Simultaneous Localization And Mapping) for robotics (Thrun, 2002) and practical demonstrations on vehicles (Thrun et al, 2006), LiDARs have had an important role in realizing high accuracy occupancy maps and 3D point clouds. The introduction of new solid state LiDAR technology is gaining great interest in the scientific community Even though these sensors have not yet fully commercialized, they still promise higher operational life, low power, small sizes and lower manufacturing costs. We present the preliminary evaluation results of working with one such sensor (as to date the sensor has not yet been launched) Different aspects of this new type of sensors are studied and their data are characterized for their effective utilization for object detection for the application of autonomous ground vehicles (AGV). The 3D solid state sensor used is based on a flash array type mechanism employing 905 nm wavelength laser and a time-of-flight distance measurement method.
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