期刊
IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
卷 72, 期 -, 页码 -出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIM.2023.3234088
关键词
Laser radar; Distance measurement; Measurement by laser beam; Laser beams; Surface emitting lasers; Laser applications; Field programmable gate arrays; Angular evaluation method; environment perception; in situ ranging; LiDAR
A compact lab-built LiDAR is designed and constructed, featuring a programmable-scanning-pattern image-space scanner and a Gauss-Newton (GN) iteration-based in situ ranging system. The angular resolution of the lab-built LiDAR is evaluated using a trapezoid-fitting method, which shows satisfactory performance when compared with a commercial LiDAR. Experimental results demonstrate that the lab-built LiDAR achieves high ranging accuracy, small angular error, and fine angular resolution. The proposed LiDAR and evaluation method have potential applications in hazard detection and avoidance in aerospace.
To capture and process environmental information, a compact lab-built LiDAR is designed and constructed. The lab-built LiDAR utilizes a programmable-scanning-pattern image-space scanner, which is able to satisfy the demands for diverse applications, and a Gauss-Newton (GN) iteration-based in situ ranging system, which is capable of retrieving target distance at high measurement repetition rate. In order to evaluate the angular resolution of the lab-built LiDAR, a trapezoid-fitting method is proposed to quantify the gradually being blurred profile of cubic target, which was validated by the lab-built LiDAR and a commercial LiDAR. Experiments were conducted for the verification of lab-built LiDAR from ranging error, angular error, and angular resolution. The results show that the lab-built LiDAR is able to obtain a target point cloud with a ranging accuracy within [-8, 8] mm, a precision of 4-16 mm, an angular error smaller than 0.26 degrees, and an angular resolution of 6.2 mrad. The proposed LiDAR and evaluation method will benefit hazard detection and avoidance in aerospace applications.
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