非可約走査による低コスト網膜型ロボットLiDAR
Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning
製造が容易な非可約走査方式のLiDARを提案し、人間の網膜の中心窩のように中央の角度密度が高く、従来より高解像度な走査を実現した。
著者: Zheng Liu, Fu Zhang, Xiaoping Hong
分類: cs.RO
原文アブストラクト
High performance lidars are essential in autonomous robots such as self-driving cars, automated ground vehicles and intelligent machines. Traditional mechanical scanning lidars offer superior performance in autonomous vehicles, but the potential mass application is limited by the inherent manufacturing difficulty. We propose a robotic lidar sensor based on incommensurable scanning that allows straightforward mass production and adoption in autonomous robots. Some unique features are additionally permitted by this incommensurable scanning. Similar to the fovea in human retina, this lidar features a peaked central angular density, enabling in applications that prefers eye-like attention. The incommensurable scanning method of this lidar could also provide a much higher resolution than conventional lidars which is beneficial in robotic applications such as sensor calibration. Examples making use of these advantageous features are demonstrated.
