低コスト3D LiDAR「RS-LiDAR」の特性評価
Characterization of a RS-LiDAR for 3D Perception
低価格で入手しやすいRS-LiDARをVLP-16と比較し、ドリフトや距離・色・姿勢の影響を実験的に評価した論文。
著者: Zhe Wang, Yang Liu, Qinghai Liao, Haoyang Ye, Ming Liu, Lujia Wang
分類: cs.RO
原文アブストラクト
High precision 3D LiDARs are still expensive and hard to acquire. This paper presents the characteristics of RS-LiDAR, a model of low-cost LiDAR with sufficient supplies, in comparison with VLP-16. The paper also provides a set of evaluations to analyze the characterizations and performances of LiDARs sensors. This work analyzes multiple properties, such as drift effects, distance effects, color effects and sensor orientation effects, in the context of 3D perception. By comparing with Velodyne LiDAR, we found RS-LiDAR as a cheaper and acquirable substitute of VLP-16 with similar efficiency.
