可動式ミラーを備えたうなずき2D LiDARによる移動物体の3Dセンシング
3D Sensing of a Moving Object with a Nodding 2D LIDAR and Reconfigurable Mirrors
うなずき型2D LiDARに再構成可能な光学ミラーを組み合わせ、視野を動的に制限することで高密度・高更新レートの3Dスキャンを実現し、移動物体の検出・追跡のためのキャリブレーション手法を提案した。
著者: Anindya Harchowdhury, Lindsay Kleeman, Leena Vachhani
分類: cs.CV, cs.RO
原文アブストラクト
Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse data generated by this sensor poses challenges in understanding the characteristics of moving objects within an uncertain environment. This paper proposes a novel design of the nodding Lidar but provides dynamic reconfigurability in terms of limiting the field of view of the sensor using a set of optical mirrors. It not only provides denser scans, but it also achieves a three times higher scan update rate. Additionally, we propose a novel calibration mechanism for this sensor and prove its effectiveness for dynamic object detection and tracking.
