Research on LiDAR
Research topics can be grouped as (1) Vehicle LiDAR-Vehicle Extrinsic Calibration and (2) 3D Object Detection.
LiDAR Extrinsic Calibration
Accurate Alignment Inspection System for Low-Resolution Automotive LiDAR
We have developed an automatic and accurate inspection system for LiDAR alignment for application in the automobile industry.
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues.
The proposed methods estimate the orientations and the horizontal position of the LiDAR attachment with sub-degree and millimeter level accuracy.
The high accuracy and simplicity of the proposed system make it practical for large-scale industrial applications such as automobile manufacturing process that inspects the sensor attachment for the safety quality control.
LiDAR Alignment Inspection: 1D Planar Target based
- It is a static method for the stationary target board and vehicle during the inspection.
- Also, it only requires one pose of the target board and does not utilize other sensors, such as a camera or GPS.
- The experimental results for a low-resolution 16 channel LiDAR (Velodyne VLP-16) confirmed that misalignment could be estimated with accuracy within 0.2 degrees and 4 mm.
Citation
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Oh, Seontaek, Ji-Hwan You, Azim Eskandarian, and Young-Keun Kim. “Accurate Alignment Inspection System for Low-Resolution Automotive LiDAR.” IEEE Sensors Journal 21, no. 10 (2021): 11961-11968.
LiDAR Alignment Inspection: 2D Board with 1-D Photodetector Arrays
- LiDAR extrinsic calibration using a target board with embedded photodetector arrays.
- LiDAR sensor pose estimated within 0.1 degree and 3 mm of precision.
- Requires a single target at static pose, applicable to manufacturing automobiles.
Citation
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You, Ji Hwan, Seontaek Oh, Jae Eun Park, Hyeongseok Song, and Young Keun Kim, ‘A Novel LiDAR Sensor Alignment Inspection System for Automobile Productions Using 1-D Photodetector Arrays’, Measurement, 183 (2021), 109817 https://doi.org/10.1016/J.MEASUREMENT.2021.109817
LiDAR Alignment Inspection: : a Cubic Target
- The proposed inspection system is a one-shot and static method that uses only a single cubic-shaped target at a close range of less than 2 m.
- The proposed method with a low-resolution LiDAR (Velodyne VLP-16) resulted in measurement errors of less than 0.04◦ and 1 mm for rotation and translation alignment, respectively.
Citation
Ji-Hwan You, Seontaek Oh, Jae-Eun Park, Hyeongseok Song, Young-Keun Kim, A novel LiDAR sensor alignment inspection system for automobile productions using 1-D photodetector arrays, Measurement, Volume 183,2021,109817, ISSN 0263-2241, https://doi.org/10.1016/j.measurement.2021.109817.
