3-D Dense Rangefinder Sensor With A Low Cost Scanning Mechanism
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AbstractLiDAR sensors have been widely applied in autonomous robotics and autonomous systems. High-channel Li- DARs or multiple low-channel LiDARs are adopted in these applications to overcome the poor vertical resolution of point clouds, as this scenario can lead to high costs. Here, as a means to improve the vertical resolution of point clouds and lower the cost, we present a 3D dense rangefinder sensor composed of a lowchannel LiDAR, a camera, a brush-less motor, and a cranklink system to replace the traditional LiDAR. A special registration method is designed to register the high-dynamic point cloud. The measurement uncertainty of this method is analyzed. In addition, a 3D object detection method is used to obtain the 3D pose of obstacles by combining the dense point cloud and an imagebased 2D object detection algorithm. Finally, several experiments are performed to evaluate the effectiveness of the proposed 3D rangefinder sensor.
Acceptance Date13/08/2020
All Author(s) ListMing Cao, Pengpeng Su, Haoyao Chen, Shiyu Tang, Yun Hui Liu
Journal nameIEEE Transactions on Instrumentation and Measurement
Volume Number70
Article number7500411
LanguagesEnglish-United States

Last updated on 2021-30-11 at 23:59