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Effect of Fast Motion on Range Images Acquired by Lidar Scanners for Automotive Applications

机译:快速运动对激光雷达在汽车应用中获取的距离图像的影响

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摘要

The scanning process of lidar scanners is extended over time. Hence, relative motion between sensor and object during the scanning leads to a motion-dependent blur, here called motion-scan effect. Due to this effect the lidar''s distance map is deteriorated, which has a negative impact on the subsequent signal processing. This paper quantifies this effect and compares it to statistical errors. In order to compensate for the negative impact, motion models for a simple car model are formulated, and the model parameters are checked for identifiability. Identification of the parameters allows to compensate for the effect. Thus the accuracy and the control mode can be improved, which is particularly important for safety-critical applications, e.g., autonomous vehicles
机译:激光雷达扫描仪的扫描过程会随时间延长。因此,在扫描期间传感器和物体之间的相对运动会导致与运动有关的模糊,这里称为运动扫描效果。由于这种影响,激光雷达的距离图会恶化,这对后续的信号处理产生负面影响。本文对这种影响进行了量化,并将其与统计误差进行比较。为了补偿负面影响,制定了简单汽车模型的运动模型,并检查了模型参数的可识别性。参数的识别可以补偿这种影响。因此,可以提高精度和控制模式,这对于安全性至关重要的应用(例如自动驾驶汽车)尤其重要

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