论文标题
基于不可限制的扫描
Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning
论文作者
论文摘要
高性能激光雷达在自动驾驶机器人中至关重要，例如自动驾驶汽车，自动化的地面车辆和智能机器。传统的机械扫描激光雷达在自动驾驶汽车方面具有出色的性能，但潜在的质量应用受到固有的制造难度的限制。我们提出了一个基于不可限制的扫描的机器人激光雷达传感器，该传感器可以直接生产和在自主机器人中采用。此不可限制的扫描还允许一些独特的功能。与人类视网膜中的凹fea相似，该激光雷达具有峰值的中央角度密度，在更喜欢眼睛样的应用的应用中。该激光雷达的不可估量的扫描方法还可以提供比常规激光痛的分辨率要高得多，这对机器人应用（例如传感器校准）是有益的。展示了使用这些有利特征的示例。
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.
