Geometric model and calibration method for a solid-state LiDAR
This paper presents a novel calibration method for solid-state LiDAR devices based on a geometrical description of their scanning system, which has variable angular resolution. Determining this distortion across the entire Field-of-View of the system yields accurate and precise measurements which en...
| Authors: | , , , |
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| Format: | article |
| Publication Date: | 2020 |
| Country: | España |
| Institution: | Universitat Politècnica de Catalunya (UPC) |
| Repository: | UPCommons. Portal del coneixement obert de la UPC |
| Language: | English |
| OAI Identifier: | oai:upcommons.upc.edu:2117/190187 |
| Online Access: | https://hdl.handle.net/2117/190187 https://dx.doi.org/10.3390/s20102898 |
| Access Level: | Open access |
| Keyword: | Optical radar -- Calibration Solid-state LiDAR LiDAR calibration Distortion correction FOV mapping Radar òptic -- Calibratge Àrees temàtiques de la UPC::Ciències de la visió::Òptica física |
| Summary: | This paper presents a novel calibration method for solid-state LiDAR devices based on a geometrical description of their scanning system, which has variable angular resolution. Determining this distortion across the entire Field-of-View of the system yields accurate and precise measurements which enable it to be combined with other sensors. On the one hand, the geometrical model is formulated using the well-known Snell’s law and the intrinsic optical assembly of the system, whereas on the other hand the proposed method describes the scanned scenario with an intuitive camera-like approach relating pixel locations with scanning directions. Simulations and experimental results show that the model fits with real devices and the calibration procedure accurately maps their variant resolution so undistorted representations of the observed scenario can be provided. Thus, the calibration method proposed during this work is applicable and valid for existing scanning systems improving their precision and accuracy in an order of magnitude. |
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