Resolving ranges of layered objects using ground vehicle LiDAR

Jim Hollinger; Brett Kutscher; Ryan Close

doi:10.1117/12.2177035

18 June 2015 Resolving ranges of layered objects using ground vehicle LiDAR

Jim Hollinger, Brett Kutscher, Ryan Close

Author Affiliations +

Proceedings Volume 9494, Next-Generation Robotics II; and Machine Intelligence and Bio-inspired Computation: Theory and Applications IX; 94940D (2015) https://doi.org/10.1117/12.2177035
Event: SPIE Sensing Technology + Applications, 2015, Baltimore, MD, United States

Abstract

Lidar systems are well known for their ability to measure three-dimensional aspects of a scene. This attribute of Lidar has been widely exploited by the robotics community, among others. The problem of resolving ranges of layered objects (such as a tree canopy over the forest floor) has been studied from the perspective of airborne systems. However, little research exists in studying this problem from a ground vehicle system (e.g., a bush covering a rock or other hazard). This paper discusses the issues involved in solving this problem from a ground vehicle. This includes analysis of extracting multi-return data from Lidar and the various laser properties that impact the ability to resolve multiple returns, such as pulse length and beam size. The impacts of these properties are presented as they apply to three different Lidar imaging technologies: scanning pulse Lidar, Geiger-mode flash Lidar, and Time-of-Flight camera. Tradeoffs associated with these impacts are then discussed for a ground vehicle Lidar application.

Citation Download Citation

Jim Hollinger, Brett Kutscher, and Ryan Close "Resolving ranges of layered objects using ground vehicle LiDAR", Proc. SPIE 9494, Next-Generation Robotics II; and Machine Intelligence and Bio-inspired Computation: Theory and Applications IX, 94940D (18 June 2015); https://doi.org/10.1117/12.2177035

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

;

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE