Increased Accuracy For Fast Moving LiDARS: Correction of Distorted Point Clouds
Tobias Renzler, Michael Stolz, Markus Schratter, Daniel Watzenig
Abstract
For a long time LiDAR sensors have been used in special purpose applications in robotics to perceive the environment. By the evolution of automated driving to higher levels of automation, LiDAR sensors gain more and more importance also in the automotive domain. Currently, LiDAR is about to become one of the most important sensor technologies enabling automated driving. To limit the emitted power due to safety, state of the art LiDAR sensors scan the environment, which needs time. This scan produces a cloud of points. In this publication the distortion of the LiDAR measurement due to a moving sensor unit is analyzed and a compensation is proposed. That correction, also taking time delays into account, is applied within an autonomous racing application using the LiDAR sensor for localization. Finally, the advantage using the correction is discussed.