Abstract
For a long time LiDAR sensors have been used in special purpose applications in robotics to perceive the environment. By the evolution of automated driving to higher levels of automation, LiDAR sensors gain more and more importance also in the automotive domain. Currently, LiDAR is about to become one of the most important sensor technologies enabling automated driving. To limit the emitted power due to safety, state of the art LiDAR sensors scan the environment, which needs time. This scan produces a cloud of points. In this publication the distortion of the LiDAR measurement due to a moving sensor unit is analyzed and a compensation is proposed. That correction, also taking time delays into account, is applied within an autonomous racing application using the LiDAR sensor for localization. Finally, the advantage using the correction is discussed.
Original language | English |
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Title of host publication | I2MTC 2020 - International Instrumentation and Measurement Technology Conference, Proceedings |
Number of pages | 6 |
ISBN (Electronic) | 978-1-7281-4460-3 |
DOIs | |
Publication status | Published - 28 May 2020 |
Event | 2020 IEEE International Instrumentation and Measurement Technology Conference: IEEE I2MTC 2020 - Virtuell, Dubrovnik, Croatia Duration: 25 May 2020 → 28 May 2020 https://i2mtc2020.ieee-ims.org/ |
Conference
Conference | 2020 IEEE International Instrumentation and Measurement Technology Conference |
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Abbreviated title | IEEE I2MTC 2020 |
Country/Territory | Croatia |
City | Virtuell, Dubrovnik |
Period | 25/05/20 → 28/05/20 |
Internet address |
Keywords
- Automated driving
- Autonomous vehicles
- Distortion correction
- LiDAR
- Sensor systems
ASJC Scopus subject areas
- Safety, Risk, Reliability and Quality
- Instrumentation