论文标题
LIDAR范围和属性扫描序列的无损SIMD压缩序列
Lossless SIMD Compression of LiDAR Range and Attribute Scan Sequences
论文作者
论文摘要
随着LIDAR传感器无处不在，对LiDAR数据压缩算法的需求增加了。现代激光痛每小时会产生示扫描数据的千兆字节，并且经常用于有限的计算，带宽和存储资源的应用中。 我们为激光雷达范围和属性扫描序列提供了一种快速，无损的压缩算法，包括多回报范围，信号，反射率和环境红外。我们的算法（称为“ Jiffy”）通过利用时空的冗余性和稀疏性来实现实质性压缩。速度是通过最大程度地利用单个指令（SIMD）指令来实现的。在自动驾驶，基础设施监控，无人机检查和手持式映射基准测试中，Jiffy算法始终以竞争的无损编解码器竞争，同时以超过65m的速度/秒的速度运行。在典型的自动驾驶用例中，单线程吉菲（Jiffy）以每秒500多次扫描以500张扫描的速度扫描6倍压缩。为了确保可重复性并启用采用，该软件可作为开源库免费提供。
As LiDAR sensors have become ubiquitous, the need for an efficient LiDAR data compression algorithm has increased. Modern LiDARs produce gigabytes of scan data per hour and are often used in applications with limited compute, bandwidth, and storage resources. We present a fast, lossless compression algorithm for LiDAR range and attribute scan sequences including multiple-return range, signal, reflectivity, and ambient infrared. Our algorithm -- dubbed "Jiffy" -- achieves substantial compression by exploiting spatiotemporal redundancy and sparsity. Speed is accomplished by maximizing use of single-instruction-multiple-data (SIMD) instructions. In autonomous driving, infrastructure monitoring, drone inspection, and handheld mapping benchmarks, the Jiffy algorithm consistently outcompresses competing lossless codecs while operating at speeds in excess of 65M points/sec on a single core. In a typical autonomous vehicle use case, single-threaded Jiffy achieves 6x compression of centimeter-precision range scans at 500+ scans per second. To ensure reproducibility and enable adoption, the software is freely available as an open source library.
