Scipediacontent: Scipediacontent moved page Draft Content 226883479 to Liu et al 2019a

2021-01-28T19:38:01Z

Scipediacontent moved page Draft Content 226883479 to Liu et al 2019a

Scipediacontent: Created page with " == Abstract == Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines..."

2021-01-28T19:37:57Z

Created page with " == Abstract == Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines..."

New page

== Abstract ==

Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines with depth measurements of the environment. While their accuracy outperforms other types of depth sensors, such as stereo or time-of-flight cameras, the accurate modeling of LIDAR sensors requires laborious manual calibration that typically does not take into account the interaction of laser light with different surface types, incidence angles and other phenomena that significantly influence measurements. In this work, we introduce a physically plausible model of a 2D continuous-wave LIDAR that accounts for the surface-light interactions and simulates the measurement process in the Hokuyo URG-04LX LIDAR. Through automatic differentiation, we employ gradient-based optimization to estimate model parameters from real sensor measurements.

Comment: Published at ICRA 2020

== Original document ==

The different versions of the original document can be found in:

* [http://arxiv.org/abs/1912.01652 http://arxiv.org/abs/1912.01652]

* [http://arxiv.org/pdf/1912.01652 http://arxiv.org/pdf/1912.01652]

* [http://xplorestaging.ieee.org/ielx7/9187508/9196508/09197138.pdf?arnumber=9197138 http://xplorestaging.ieee.org/ielx7/9187508/9196508/09197138.pdf?arnumber=9197138],
: [http://dx.doi.org/10.1109/icra40945.2020.9197138 http://dx.doi.org/10.1109/icra40945.2020.9197138]

* [https://dblp.uni-trier.de/db/conf/icra/icra2020.html#HeidenLRS20 https://dblp.uni-trier.de/db/conf/icra/icra2020.html#HeidenLRS20],
: [https://academic.microsoft.com/#/detail/3090381223 https://academic.microsoft.com/#/detail/3090381223]

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Liu et al 2019a - Revision history

Scipediacontent: Scipediacontent moved page Draft Content 226883479 to Liu et al 2019a

Scipediacontent: Created page with " == Abstract == Light Detection and Ranging (LIDAR) sensors play an important role in the perception stack of autonomous robots, supplying mapping and localization pipelines..."