Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2010 · 138 citations · 1 references
ComputingAutonomous SystemsRobotics EngineeringAutonomous VehiclesComputer VisionRobot VisionLidar PerceptionMarine Robot PerceptionObstacle AvoidanceObstacle DetectionSense-and-avoid SystemsVehicle Perception3D Laser Scanning3D Obstacle DetectionLidar SensingLidar SensorsLidar-based DetectionLidar-based Obstacle DetectionMaritime Environment PerceptionPerception
The Velodyne HDL‑64E is a 64‑laser 3D LIDAR with a 360° horizontal and 26.8° vertical field of view, originally designed for DARPA Urban Challenge ground vehicles. This study evaluates the HDL‑64E’s performance for obstacle detection and avoidance on unmanned surface vehicles in marine settings. The authors assess the sensor’s ability to identify sea‑borne objects through visual inspection of raw point clouds and a simple automated detection algorithm, while noting operational complications.
The Velodyne HDL-64E is a 64 laser 3D (360×26.8 degree) scanning LIDAR. It was designed to fill perception needs of DARPA Urban Challenge vehicles. As such, it was principally intended for ground use. This paper presents the performance of the HDL-64E as it relates to the marine environment for unmanned surface vehicle (USV) obstacle detection and avoidance. We describe the sensor's capacity for discerning relevant objects at sea- both through subjective observations of the raw data and through a rudimentary automated obstacle detection algorithm. We also discuss some of the complications that have arisen with the sensor.
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Calibration of a rotating multi-beam lidar
N. Muhammad, Simon Lacroix · 2010 · 104 citations
Engineering, Mathematics, Metrology +14