Journal
2021 IEEE SENSORS
Volume -, Issue -, Pages -Publisher
IEEE
DOI: 10.1109/SENSORS47087.2021.9639697
Keywords
sensor fault; lidar; mechanical damage
Funding
- COMET K2 Competence Centers for Excellent Technologies from the Austrian Federal Ministry for Climate Action (BMK)
- Austrian Federal Ministry for Digital and Economic Affairs (BMDW)
- Province of Styria (Dept. 12)
- Styrian Business Promotion Agency (SFG)
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Safe automated driving relies on reliable perception sensors with low fault rates. Detecting sensor faults before path planning is crucial to prevent fault propagation. This study shows that damaged lidar sensor covers have an impact on point cloud data.
Safe automated driving requires reliable perception sensors with low fault rates. Detecting perception sensor faults before path planning avoids fault propagation through the processing pipeline of automated vehicles. As the basis for further development of fault detection algorithms, the present work presents effects of damaged lidar sensor covers considering scratches, cracks, and holes. We used an automotive lidar, which provides point clouds, and calculated deviations between the lidar points on a target and an ideal plane representing the target to evaluate the effect of damaged covers. Results show that sensor cover damages have an effect on point cloud data.
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