3D Sensing of a Moving Object with a Nodding 2D LIDAR and Reconfigurable Mirrors
This addresses the challenge of high-quality 3D sensing for moving objects in robotics, offering a cost-effective solution with improved performance.
The paper tackles the problem of sparse data from a low-cost nodding 2D LIDAR for 3D perception by proposing a design with reconfigurable mirrors to limit the field of view, resulting in denser scans and a three times higher scan update rate.
Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse data generated by this sensor poses challenges in understanding the characteristics of moving objects within an uncertain environment. This paper proposes a novel design of the nodding Lidar but provides dynamic reconfigurability in terms of limiting the field of view of the sensor using a set of optical mirrors. It not only provides denser scans, but it also achieves a three times higher scan update rate. Additionally, we propose a novel calibration mechanism for this sensor and prove its effectiveness for dynamic object detection and tracking.