Light Detection And Ranging Research Articles

A Hierarchical Coarse–Fine Adaptive Fusion Network for the Joint Classification of Hyperspectral and LiDAR Data

Hyperspectral image (HSI) and light detection and ranging (LiDAR) data have gained significant attention due to their excellent complementarity, which can be combined to improve the accuracy of land cover classification. However, there are still many challenges, such as unrelated physical characteristics, different data structures, and a lack of labeled samples. Many methods fail to leverage the full potential of multi-source data, particularly hierarchical complementary information. To address these problems, a hierarchical coarse–fine adaptive (HCFA) fusion network with dynamic convolution and a transformer is proposed for multi-source remote sensing land cover classification. Although fusing hierarchical information can improve the classification accuracy of the model, improper hierarchical feature selection and optimization may negatively affect the classification results. Therefore, a coarse–fine mutual learning strategy is proposed to dynamically fuse hierarchical information. Additionally, the disparity between multi-source data continues to prevent the realization of effective fusion. To tackle this challenge, cross-tokenization and cross-token attention are implemented to enhance information interaction. Furthermore, to improve the model representation with limited computational cost, we combine the advantages of dynamic convolution with a transformer. Validation on three standard datasets demonstrates that HCFA achieves high accuracy with just 1% of the training set while maintaining low computational costs.

Digitized Seedbed Soil Quality Assessment from Worn and Edge Hardened Cultivator Sweeps.

Tillage tools for seedbed soil management are often subjected to low stress abrasion wear, which could negatively affect seedbed quality and crop productivity. Limited studies exist that quantify the effects of worn tillage tools on seedbed quality and crop yield. This research investigated the influence of tillage tool wear on seedbed preparation by evaluating the effect of cultivator sweep wear on soil tilth utilizing a light detection and ranging (LiDAR) sensor. The framework consists of a seedbed tillage field experiment using a Completely Randomized Design (CRD) experiment in six replicates of two-tillage treatments (new and worn cultivator sweeps). After seedbed tillage, loosely tilled soil aggregates were removed to expose the seedbed soil profile, and then seedbed roughness statistical measures were estimated from LiDAR-scanned seedbed soil surface. Three statistical analyses (Analysis of Variance (ANOVA), Kolmogorov-Smirnov (KS), and Earth Mover's Distance (EMD)) were compared to quantitatively evaluate the soil roughness estimated from the LiDAR seedbed surface data. Seedbed prepared by new and worn cultivator sweeps showed significant differences (p < 0.05) in soil roughness variables of standard deviation, coefficient of variation, and kurtosis. Data analysis from the ANOVA and KS methods revealed that LiDAR-extracted soil roughness patterns were statistically influenced by tillage treatment. EMD analysis detected noticeable disparities between the tillage treatments and new versus worn cultivator sweeps. This study concludes that tillage tool wear substantively affects seedbed quality, as evidenced by LiDAR soil profile estimated attributes of soil roughness and three statistical methods (ANOVA, KS, and EMD). Our study supports the adoption of LiDAR technology for seedbed management, highlighting its applicability to evaluate seedbed quality that accounts for the wear life cycle of cultivator sweeps.

Space-Based Mapping of Pre- and Post-Hurricane Mangrove Canopy Heights Using Machine Learning with Multi-Sensor Observations

Coastal mangrove forests provide numerous ecosystem services, which can be disrupted by natural disturbances, mainly hurricanes. Canopy height (CH) is a key parameter for estimating carbon storage. Airborne Light Detection and Ranging (LiDAR) is widely viewed as the most accurate method for estimating CH but data are often limited in spatial coverage and are not readily available for rapid impact assessment after hurricane events. Hence, we evaluated the use of systematically acquired space-based Synthetic Aperture Radar (SAR) and optical observations with airborne LiDAR to predict CH across expansive mangrove areas in South Florida that were severely impacted by Category 3 Hurricane Irma in 2017. We used pre- and post-Irma LiDAR-derived canopy height models (CHMs) to train Random Forest regression models that used features of Sentinel-1 SAR time series, Landsat-8 optical, and classified mangrove maps. We evaluated (1) spatial transfer learning to predict regional CH for both time periods and (2) temporal transfer learning coupled with species-specific error correction models to predict post-Irma CH using models trained by pre-Irma data. Model performance of SAR and optical data differed with time period and across height classes. For spatial transfer, SAR data models achieved higher accuracy than optical models for post-Irma, while the opposite was the case for the pre-Irma period. For temporal transfer, SAR models were more accurate for tall trees (&gt;10 m) but optical models were more accurate for short trees. By fusing data of both sensors, spatial and temporal transfer learning achieved the root mean square errors (RMSEs) of 1.9 m and 1.7 m, respectively, for absolute CH. Predicted CH losses were comparable with LiDAR-derived reference values across height and species classes. Spatial and temporal transfer learning techniques applied to readily available spaceborne satellite data can enable conservation managers to assess the impacts of disturbances on regional coastal ecosystems efficiently and within a practical timeframe after a disturbance event.

LiDAR-Based Unmanned Aerial Vehicle Offshore Wind Blade Inspection and Modeling

The deployment of offshore wind turbines (WTs) has emerged as a pivotal strategy in the transition to renewable energy, offering significant potential for clean electricity generation. However, these structures’ operation and maintenance (O&amp;M) present unique challenges due to their remote locations and harsh marine environments. For these reasons, it is fundamental to promote the development of autonomous solutions to monitor the health condition of the construction parts, preventing structural damage and accidents. This paper explores the application of Unmanned Aerial Vehicles (UAVs) in the inspection and maintenance of offshore wind turbines, introducing a new strategy for autonomous wind turbine inspection and a simulation environment for testing and training autonomous inspection techniques under a more realistic offshore scenario. Instead of relying on visual information to detect the WT parts during the inspection, this method proposes a three-dimensional (3D) light detection and ranging (LiDAR) method that estimates the wind turbine pose (position, orientation, and blade configuration) and autonomously controls the UAV for a close inspection maneuver. The first tests were carried out mainly in a simulation framework, combining different WT poses, including different orientations, blade positions, and wind turbine movements, and finally, a mixed reality test, where a real vehicle performed a full inspection of a virtual wind turbine.

Developing Site-Specific Prescription Maps for Sugarcane Weed Control Using High-Spatial-Resolution Images and Light Detection and Ranging (LiDAR)

Sugarcane is a perennial grass species mainly for sugar production and one of the significant crops in Costa Rica, where ideal growing conditions support its cultivation. Weed control is a critical aspect of sugarcane farming, traditionally managed through preventive or corrective mechanical and chemical methods. However, these methods can be time-consuming and costly. This study aimed to develop site-specific, variable rate prescription maps for weed control using remote sensing. High-spatial-resolution images (5 cm) and Light Detection And Ranging (LiDAR) were acquired using a Micasense Rededge-P camera and a DJI L1 sensor mounted on a drone. Precise locations of weeds were collected for calibration and validation. Normalized Difference Vegetation Index derived from multispectral images separated vegetation coverage and soil. A deep learning (DL) algorithm further classified vegetation coverage into sugarcane and weeds. The DL model performed well without overfitting. The classification accuracy was 87% compared to validation samples. The density and average heights of weed patches were extracted from the canopy height model (LiDAR). They were used to derive site-specific prescription maps for weed control. This efficient and precise alternative to traditional methods could optimize weed control, reduce herbicide usage and provide more profitable yield.

Single-photon 3D imaging of room-scale scenes through scattering media

Light detection and ranging (LiDAR) utilizes eye-safe laser beams to perceive the world in three-dimensional (3D) detail, offering machines and computers with an accurate representation of their surroundings. This technology is widely employed in metrology, environmental monitoring, archaeology, and robotics. However, the presence of scattering media in the optical path, such as fog, dust, or translucent plates, will cause light scattering and occlude direct observation of the scene. To address scattering distortions, conventional methods require the prior knowledge of the scattering media or the target location, limiting their applicability outside the laboratory. Leveraging single-photon sensitivity and time-gated technology, single photon LiDAR emerges as a promising solution for active scattering imaging. In this study, we construct a single-photon LiDAR prototype and demonstrate its capability to perform 3D imaging of a room-scale (1.1 m × 1.1 m × 4 m) hidden scene behind a ground glass diffuser located approximately 50 meters away from the imaging system. Incorporating phase function to construct the forward model and considering the system-induced temporal broadening, our method is capable of producing reliable results behind various scattering layers. The results indicate potential applications such as remote non-invasive testing and detection in challenging scenarios.

Mapping landforms of a hilly landscape using machine learning and high-resolution LiDAR topographic data

Landform maps are important tools in assessment of soil- and eco-hydrogeomorphic processes and hazards, hydrological modeling, and natural resources and land management. Traditional techniques of mapping landforms based on field surveys or from aerial photographs can be time and labor intensive, highlighting the importance of remote sensing products based automatic or semi-automatic approaches. In addition, the time-intensive manual labeling can also be subjective rather than an objective identification of the landform. Here we implemented such an objective approach applying a random forest machine learning algorithm to a set of observed landform data and 1m horizontal resolution bare-earth digital elevation model (DEM) developed from airborne light detection and ranging (LiDAR) data to rapidly map various landforms of a hilly landscape. The landform classification includes upland plateaus, ridges, convex slopes, planar slopes, concave slopes, stream channels, and valley bottoms, across a 400 km2 hilly landscape of the Ozark Mountains in northeastern Oklahoma. We used 4200 landform observations (600 per landform) and eight topographic indices derived from 2 m, 5 m and 10 m resolution LiDAR DEM in random forest algorithm to develop 2 m, 5 m and 10 m resolution landform models. We test the effectiveness of DEM resolution in mapping landforms via comparison of observed landforms with modeled landforms. Results showed that the approach mapped ∼84% of observed landforms when covariates were at 2 m resolution to ∼89% when they were at 10 m resolution. However, predicted maps showed that the 2 m resolution covariates performed better at capturing accurate landform boundaries and details of small-sized landforms such as stream channels and ridges. The approach presented here significantly reduces the time required for mapping landforms compared to traditional techniques using aerial imagery and field observations and allows incorporation of a wide variety of covariates. The landform map developed using this approach has several potential applications. It could be utilized in hydrological modeling, natural resource management, and characterizing soil-geomorphic processes and hazards in a hilly landscape.

Designing LiDAR‐Detectable Dark‐Tone Materials with High Near‐Infrared Reflectivity for Autonomous Driving: A Comprehensive Review

AbstractAutonomous driving relies on the precise recognition of objects using light detection and ranging (LiDAR) technology, that operates at a specific wavelength of 905 nm. Black objects, such as carbon black used in vehicle coating, tend to absorb this specific wavelength significantly, which limits the performance of LiDAR sensors. To address this issue, researchers have explored creating dark‐toned materials that can be detected by LiDAR with high NIR reflectivity while maintaining a true blackness (L* &lt; 20 based on the CIE color coordinates). These materials fall into two categories: organic and inorganic pigments. Organic pigments can be synthetically adjusted to achieve true blackness by manipulating their functional groups, but achieving high NIR reflectivity remains challenging, often requiring a bilayer structure with NIR‐reflective white base and an upper layer of organic black pigments. Additionally, the need for hydrophobic additives and resistance to degradation from sunlight further restricts their use. In the case of inorganic pigments, the desired LiDAR‐detectable properties can be obtained through careful control of their composition, structure, and morphology, allowing for single‐layer coatings with appropriate design. This review highlights recent advancements in developing organic and inorganic LiDAR‐detectable black pigments and outlines future material design strategies for autonomous vehicle systems.

Advancing Forest Degradation and Regeneration Assessment Through Light Detection and Ranging and Hyperspectral Imaging Integration

Integrating Light Detection And Ranging (LiDAR) and Hyperspectral Imaging (HSI) enhances the assessment of tropical forest degradation and regeneration, which is crucial for conservation and climate mitigation strategies. This study optimized procedures using combined airborne LiDAR, HSI data, and machine learning algorithms across 12 sites in the Brazilian Amazon, covering various environmental and anthropogenic conditions. Four forest classes (undisturbed, degraded, and two stages of second-growth) were identified using Landsat time series (1984–2017) and auxiliary data. Metrics from 600 samples were analyzed with three classifiers: Random Forest, Stochastic Gradient Boosting, and Support Vector Machine. The combination of LiDAR and HSI data improved classification accuracy by up to 12% compared with single data sources. The most decisive metrics were LiDAR-based upper canopy cover and HSI-based absorption bands in the near-infrared and shortwave infrared. LiDAR produced significantly fewer errors for discriminating second-growth from old-growth forests, while HSI had better performance to discriminate degraded from undisturbed forests. HSI-only models performed similarly to LiDAR-only models (mean F1 of about 75% for both data sources). The results highlight the potential of integrating LiDAR and HSI data to improve our understanding of forest dynamics in the context of nature-based solutions to mitigate climate change impacts.

Active Fault Interpretation in the Northern Segment of the Red River Fault Based on Multisource Remote Sensing Data

High-resolution topographic and geomorphic data are important basic data for the study of active structures. Here, multisource remote sensing data were used to reinterpret the active faults in the northern segment of the Red River Fault (China). First, we obtained airborne light detection and ranging (LiDAR) data, high-resolution GaoFen-7 (GF-7) remote sensing image data, and historical aerial photographs, and a high-resolution digital elevation model (DEM) was generated based on the airborne LiDAR data and GF-7 data. According to the remote sensing interpretation, the main active faults were identified. We subsequently verified the faults in the field and constrained the geographic locations. The current activity was confirmed to be dominantly normal faulting, with some dextral strike-slip components, and the latest active age was the Late Holocene. It reflects the coordination of structural deformation between the rotation of the secondary block and the sliding of the boundary fault within the Sichuan–Yunnan Block. The results show that airborne LiDAR and GF-7 remote sensing data have a great application value in providing high-resolution topographic and geomorphologic data for the study of active structures. The comprehensive application of multisource remote sensing data can greatly improve the reliability of active fault interpretations and provide a reference for follow-up research within the study area.

Efficient Multi-floor Indoor Mapping with A Versatile Rotating LiDAR System

Abstract. Light Detection And Ranging (LiDAR) technology has provided an impactful way to capture 3D environmental map. However, consistent mapping in sensing-degenerated and perceptually-limited scenes (e.g. multi-story buildings) or under high dynamic sensor motion (e.g. rotating platform) remains a significant challenge. To this end, an efficient multi-floor indoor mapping system is proposed in this paper utilizing a versatile rotating LiDAR platform. In the front end, measurements from motor, IMU and LiDAR are tightly integrated to track the fast motion state of system, based on iterative Error State Kalman Filter (ESKF). Then linear and planar features are extracted from the point cloud map voxelized with adaptive resolutions. A sliding-window-based batch optimization is performed to simultaneously optimize the states of local frames with reference to the map consistency. In the experiments, we investigated the influence of rotating speed on the mapping performance as well as the superiority of rotating mechanism when compared to standard LiDAR setup. Moreover, comparative studies with one of the SOTA work, FAST-LIO2, have shown the competitive mapping results in multi-floor indoor environments.

Unsupervised Clustering-based 3D Static Scene Construction Using LiDAR Channel and Azimuth Angle

Abstract. Cameras are typically used at road intersections to collect data to perform object detection but struggle in low-light and harsh weather. On the other hand, Light Detection and Ranging (LiDAR) is used as a key technology in 3D vision systems. It gives the 3D point cloud, which includes accurate depth information, but its resolution is cost-dependent, with higher resolutions being more expensive. Deep learning-based method requires large, labelled dataset which increases the cost, time and accuracy depending on the model trained on labelled dataset. To perform object detection in point cloud data is a challenging task due to the incomplete representations, data sparsity and unavailability of training data. To overcome this by using an unsupervised approach, it is important to identify the static scene and then detect the moving object. This work incorporated a novel approach to construct static scene using azimuth angle and laser channel information using an unsupervised clustering approach. This work incorporates two modules I) data collection using VLP-16 LiDAR, and II) static scene construction using DBSCAN (density-based spatial clustering and noise) clustering-based approach. Data is collected at a 4-legged intersection and pre-processed to extract aggregated distances corresponding to the unique pair of azimuth angle and laser channel. DBSCAN is used to perform clustering on the aggregated distances, based on the highest silhouette score and lowest intra distance between points in cluster, static points are identified, and static scene constructed. The qualitative evaluation of method demonstrates that the algorithm effectively and accurately filters out background points.

Neural Approach to Coordinate Transformation for LiDAR–Camera Data Fusion in Coastal Observation

The paper presents research related to coastal observation using a camera and LiDAR (Light Detection and Ranging) mounted on an unmanned surface vehicle (USV). Fusion of data from these two sensors can provide wider and more accurate information about shore features, utilizing the synergy effect and combining the advantages of both systems. Fusion is used in autonomous cars and robots, despite many challenges related to spatiotemporal alignment or sensor calibration. Measurements from various sensors with different timestamps have to be aligned, and the measurement systems need to be calibrated to avoid errors related to offsets. When using data from unstable, moving platforms, such as surface vehicles, it is more difficult to match sensors in time and space, and thus, data acquired from different devices will be subject to some misalignment. In this article, we try to overcome these problems by proposing the use of a point matching algorithm for coordinate transformation for data from both systems. The essence of the paper is to verify algorithms based on selected basic neural networks, namely the multilayer perceptron (MLP), the radial basis function network (RBF), and the general regression neural network (GRNN) for the alignment process. They are tested with real recorded data from the USV and verified against numerical methods commonly used for coordinate transformation. The results show that the proposed approach can be an effective solution as an alternative to numerical calculations, due to process improvement. The image data can provide information for identifying characteristic objects, and the obtained accuracies for platform dynamics in the water environment are satisfactory (root mean square error—RMSE—smaller than 1 m in many cases). The networks provided outstanding results for the training set; however, they did not perform as well as expected, in terms of the generalization capability of the model. This leads to the conclusion that processing algorithms cannot overcome the limitations of matching point accuracy. Further research will extend the approach to include information on the position and direction of the vessel.

Remote Sensing LiDAR and Hyperspectral Classification with Multi-Scale Graph Encoder–Decoder Network

The rapid development of sensor technology has made multi-modal remote sensing data valuable for land cover classification due to its diverse and complementary information. Many feature extraction methods for multi-modal data, combining light detection and ranging (LiDAR) and hyperspectral imaging (HSI), have recognized the importance of incorporating multiple spatial scales. However, effectively capturing both long-range global correlations and short-range local features simultaneously on different scales remains a challenge, particularly in large-scale, complex ground scenes. To address this limitation, we propose a multi-scale graph encoder–decoder network (MGEN) for multi-modal data classification. The MGEN adopts a graph model that maintains global sample correlations to fuse multi-scale features, enabling simultaneous extraction of local and global information. The graph encoder maps multi-modal data from different scales to the graph space and completes feature extraction in the graph space. The graph decoder maps the features of multiple scales back to the original data space and completes multi-scale feature fusion and classification. Experimental results on three HSI-LiDAR datasets demonstrate that the proposed MGEN achieves considerable classification accuracies and outperforms state-of-the-art methods.

KOALA: A Modular Dual-Arm Robot for Automated Precision Pruning Equipped with Cross-Functionality Sensor Fusion

Landscape maintenance is essential for ensuring agricultural productivity, promoting sustainable land use, and preserving soil and ecosystem health. Pruning is a labor-intensive task among landscaping applications that often involves repetitive pruning operations. To address these limitations, this paper presents the development of a dual-arm holonomic robot (called the KOALA robot) for precision plant pruning. The robot utilizes a cross-functionality sensor fusion approach, combining light detection and ranging (LiDAR) sensor and depth camera data for plant recognition and isolating the data points that require pruning. The You Only Look Once v8 (YOLOv8) object detection model powers the plant detection algorithm, achieving a 98.5% pruning plant detection rate and a 95% pruning accuracy using camera, depth sensor, and LiDAR data. The fused data allows the robot to identify the target boxwood plants, assess the density of the pruning area, and optimize the pruning path. The robot operates at a pruning speed of 10–50 cm/s and has a maximum robot travel speed of 0.5 m/s, with the ability to perform up to 4 h of pruning. The robot’s base can lift 400 kg, ensuring stability and versatility for multiple applications. The findings demonstrate the robot’s potential to significantly enhance efficiency, reduce labor requirements, and improve landscape maintenance precision compared to those of traditional manual methods. This paves the way for further advancements in automating repetitive tasks within landscaping applications.

An Automatic Mapping Method of Navigation Map for Outdoor Road Scenes

Abstract. In the process of autonomous navigation of outdoor mobile robots, four modules are involved: perception, localization, planning, and controlling. The perception module utilizes sensors such as cameras and radars based on various principles to analyze the robot's surroundings in real-time. The localization module uses GPS (Global Positioning System), IMU (Inertial Measurement Unit), and prior maps for real-time positioning analysis. The planning module plans optimal path based on the outputs of the first two modules, and the controlling module directs the robot's chassis to move along the planned optimal path. For the localization module, the accuracy of GPS positioning results heavily depends on weather conditions and GPS signal receptions. Even if the positioning results of imu are integrated, the positioning accuracy still cannot meet the needs of robot navigation. Therefore, using prior maps for repositioning can compensate for this accuracy deficiency. The planning module also requires path planning based on prior maps. If the a priori map storage is large, it will lead to difficulties in usage, maintenance, and updates. Therefore, it is crucial to research lightweight navigation map mapping methods. In this paper, an automatically mapping method of lightweight navigation maps is proposed, combining cameras and LiDAR (Light Detection and Ranging), including semantic informations necessary for outdoor navigation positioning, such as pole-like objects and traffic signs for robot longitudinal positioning, and lane line elements for robot lateral positioning. This method automatic generates robot navigation maps in Lanelet2 format, providing support for subsequent positioning and path planning modules.

Special Issue on Robotics and Mechatronics Technology for Aerial Robots

Aerial robot technologies, such as drones and unmanned aerial vehicles, are rapidly advancing in various domains. These robots now possess enhanced autonomous flying abilities and use sensor technology, Global Navigation Satellite System (GNSS), Light Detection and Ranging (LiDAR) system, and cameras to avoid obstacles, automatically land, and track flights. Evolving technologies in airspace management and route optimization ensure that flights are efficient and safe. Aerial robots have a wide range of applications, such as agriculture, disaster response, environmental monitoring, and inspection. These devices excel at precise data collection thanks to their high-resolution cameras and high-precision sensors. Swarm robotics, which allows collaboration between multiple aerial and ground robots, is also progressing. This enables quick coverage of large areas, which benefits disaster relief and land management. In addition, research and development of flying robots modeled after flying animals is underway. The evolution of aerial robots results in their efficient use in a variety of fields and new applications. This special issue includes the latest research papers and development reports on aerial robotic technology from the aforementioned perspectives. We hope that this special issue will pique researchers’ and engineers’ interest in aerial robots, thereby encouraging additional research and development. Finally, we would like to express our gratitude to all authors, all reviewers, the editorial board of the Journal of Robotics and Mechatronics, and Fuji Technology Press Ltd.

Proposal of UAV-SLAM-Based 3D Point Cloud Map Generation Method for Orchards Measurements

This paper proposes a method for generating highly accurate point cloud maps of orchards using an unmanned aerial vehicle (UAV) equipped with light detection and ranging (LiDAR). The point cloud captured by the UAV-LiDAR was converted to a geographic coordinate system using a global navigation satellite system / inertial measurement unit (GNSS/IMU). The converted point cloud is then aligned with the simultaneous localization and mapping (SLAM) technique. As a result, a 3D model of an orchard is generated in a low-cost and easy-to-use manner for pesticide application with precision. The method of direct point cloud alignment with real-time kinematic-global navigation satellite system (RTK-GNSS) had a root mean square error (RMSE) of 42 cm between the predicted and true crop height values, primarily due to the effects of GNSS multipath and vibration of automated vehicles. Contrastingly, our method demonstrated better results, with RMSE of 5.43 cm and 2.14 cm in the vertical and horizontal axes, respectively. The proposed method for predicting crop location successfully achieved the required accuracy of less than 1 m with errors not exceeding 30 cm in the geographic coordinate system.

CRTF-MoeICP: A robust coarse-to-fine reflector-based LiDAR indoor positioning algorithm

The reflector-based Light Detection and Ranging (LiDAR) positioning method is susceptible to environmental interferences, resulting in instability. This instability not only reduces movement accuracy but also poses safety hazards. To solve the above problems in the application of LiDAR sensors in the field of indoor positioning, we propose a Coarse Registration algorithm based on the Triangular Feature (CRTF) and a fine registration algorithm based on Multi-level outlier elimination and Iterative Closest Point (MoeICP) for the reflector-based LiDAR positioning. The proposed coarse-to-fine positioning algorithm CRTF-MoeICP addresses the issue of reflector-based LiDAR positioning failure arising from the improper selection of the initial transformation matrix and outlier interference in indoor structured industrial environments. The experiment results show that the CRTF-MoeICP algorithm can ensure the stable registration of the LiDAR point cloud and the reflector map by completely removing all outliers, greatly improving the indoor positioning stability of LiDAR sensors. Besides, the proposed algorithm can be realized by LiDARs with different performance, and improve the static positioning repeatability to ±3 mm. The high precision and stable positioning results improve the motion accuracy, ensuring that the Automatic Guided Vehicle (AGV) can accurately and stably complete the handling task.

Potential of Emerging Sensor Technologies like LiDar for Enhanced Spatial Computing: Unlocking the Future of Technology

In recent years, the synergistic integration of Light Detection and Ranging (LiDAR) technology with the burgeoning field of spatial computing has ignited a transformative spark across diverse industries. This groundbreaking fusion has revolutionized how we perceive and interact with the digital world, unlocking unprecedented possibilities in augmented reality (AR), virtual reality (VR), autonomous driving, and environmental mapping. These advancements transcend mere technological enhancements; they represent a paradigm shift, reshaping entire ecosystems and fostering a new era of innovation. This research paper delves deeper into the immense potential of LiDAR as an emerging sensor technology, specifically exploring its profound impact on the landscape of spatial computing. We will meticulously examine its diverse applications, dissect the inherent benefits it offers, and analyze its far-reaching consequences on the digital sphere. Additionally, we will utilize Apple Vision Pro as a compelling case study, meticulously dissecting how this innovative AR/MR headset leverages the power of LiDAR technology to achieve superior spatial awareness and deliver unparalleled user experiences. Through this multifaceted examination, we aim to illuminate the transformative potential of LiDAR and its role in shaping the center of spatial computing.