лидар презенташка

1.

Selin Stanislav 8E32
LiDAR
How robots see
with laser pulses
REAL LiDAR DATA / A 3D MAP OF THE STREET

2.

THE HARDWARE
A laser sensor, mounted on a robot
Active sensing: send light, then measure its reflection.
3D LiDAR
Inside a scanning LiDAR
Laser emitter + beam steering
Receiver / photodetector
Timing + processing electronics
LiDAR
Radar
Laser light
Radio waves
Fine spatial detail
Robust in bad
weather
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3.

THE MEASUREMENT
Distance from the time of flight
d = c * dt / 2
d distance
c speed of light
dt round-trip time
1
Emit the pulse
2
Measure return time
3
Calculate distance
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03 / THE POINT CLOUD
direction + distance = points cloud on a 3D map.
INTENSITY
RGB COLOR
Return strength; shown in false color.
Camera color mapped onto the geometry.
Intensity and RGB are different.
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04 / SCANNING AND APPLICATIONS
2D / one scanning plane
3D / geometry in space
build a 2D profile
Multiple elevation angles
TOPOGRAPHIC / land and surfaces
BATHYMETRIC / water depth
Usually near-infrared light.
Green light; suitable, sufficiently clear water.
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05 / ROBOTICS
From a scan to autonomous navigation
SLAM: Simultaneous Localization and Mapping
Localize + build a map
objects detected in a 3D point cloud
Detect obstacles.
Plan a path.
Navigate autonomously.
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7.

06 / PRACTICAL DEMO
My classmate in 3D
iPhone LiDAR scanner in practical example
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8.

Selin Stanislav 8E32
LiDAR
How robots see
with laser pulses
REAL LiDAR DATA / A 3D MAP OF THE STREET