A high frequency 3D LiDAR with enhanced measurement density via Papoulis-Gerchberg

Bengisu Özbay, Elvan Kuzucu, Mustafa Gül, Dilan Öztürk, Muhittin Taşci, A. Mansur Arisoy, Halil Onur Şirin, Ismail Uyanik

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations

Abstract

Light Detection and Ranging (LiDAR) devices are gaining more importance for obtaining sensory information in mobile robot applications. However, existing solutions in literature yield low frequency outputs with huge measurement delay to obtain 3D range image of the environment. This paper introduces the design and construction of a 3D range sensor based on rotating a 2D LiDAR around its pitch axis. Different than previous approaches, we adjust our scan frequency to 5 Hz to support its application on mobile robot platforms. However, increasing scan frequency drastically reduces the measurement density in 3D range images. Therefore, we propose two post-processing algorithms to increase measurement density while keeping the 3D scan frequency at an acceptable level. To this end, we use an extended version of the Papoulis-Gerchberg algorithm to achieve super-resolution on 3D range data by estimating the unmeasured samples in the environment. In addition, we propose a probabilistic obstacle reconstruction algorithm to consider the probabilities of the estimated (virtual) points and to obtain a very fast prediction about the existence and shape of the obstacles.

Original languageEnglish (US)
Title of host publicationProceedings of the 17th International Conference on Advanced Robotics, ICAR 2015
EditorsUluc Saranli, Sinan Kalkan
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages543-548
Number of pages6
ISBN (Electronic)9781467375092
DOIs
StatePublished - Oct 13 2015
Externally publishedYes
Event17th International Conference on Advanced Robotics, ICAR 2015 - Istanbul, Turkey
Duration: Jul 27 2015Jul 31 2015

Publication series

NameProceedings of the 17th International Conference on Advanced Robotics, ICAR 2015

Conference

Conference17th International Conference on Advanced Robotics, ICAR 2015
Country/TerritoryTurkey
CityIstanbul
Period7/27/157/31/15

All Science Journal Classification (ASJC) codes

  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering
  • Artificial Intelligence

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