IEMEK Journal of Embedded Systems and Applications (대한임베디드공학회논문지)

Institute of Embedded Engineering of Korea (대한임베디드공학회)
권호 표지
DOI QR코드

DOI QR Code

Mutual Interference on Mobile Pulsed Scanning LIDAR

  • Received : 2016.08.17
  • Accepted : 2016.11.29
  • Published : 2017.02.28
Download PDF
⟨ Previous Next ⟩

Abstract

Mobile pulse scanning Light Detection And Ranging (LIDAR) are essential components of intelligent vehicles capable of autonomous travel. Obstacle detection functions of autonomous vehicles require very low failure rates. With the increasing number of autonomous vehicles equipped with scanning LIDARs to detect and avoid obstacles and navigate safely through the environment, the probability of mutual interference becomes an important issue. The reception of foreign laser pulses can lead to problems such as ghost targets or a reduced signal-to-noise ratio. This paper will show the probability that any two scanning LIDARs will interfere mutually by considering spatial and temporal overlaps. We have conducted four experiments to investigate the occurrence of the mutual interference between scanning LIDARs. These four experimental results introduced the effects of mutual interference and indicated that the interference has spatial and temporal locality. It is hard to ignore consecutive mutual interference on the same line or the same angle because it is possible the real object not noise or error. It may make serious faults because the obstacle detection functions of autonomous vehicle rely on heavily the scanning LIDAR.

Keywords

References

  1. L.C. Bsaca-Preciado, O.Y. Sergiyenko, J.C. Rodrguez-Quinonez, X. Garca, V.V. Tyrsa, M. Rivas-Lopez, D. Hernandez-Balbuena, P. Mercorelli, M. Podrygalo, A. Gurko, I. Tabakova, O. Starostenko, "Optical 3d laser measurement system for navigation of autonomous mobile robot," Optics and Lasers in Engineering, Vol. 54, pp. 159-169, 2014. https://doi.org/10.1016/j.optlaseng.2013.08.005
  2. J. Jeon, M. Kim, S. Lee, K. Lee, "Development of Sensor Fusion-Based Low-Speed Short-Distance Collision Warning Algorithm for Urban Area," IEMEK J. Embed. Sys. Appl., Vol. 6, No. 3, pp. 157-167, 2011.
  3. M. Lee, S. Hur, Y. Park, "Obstacle classification method based on single 2D LIDAR database," IEMEK J. Embed. Sys. Appl., Vol. 10, No. 3, pp. 179-188, 2015. https://doi.org/10.14372/IEMEK.2015.10.3.179
  4. N. Shchetko, "Laser eyes pose price hurdle for driverless cars," 2014.
  5. A. Priddle, C. Woodyard, "Google discloses costs of its driverless car tests," 2012.
  6. Z. Zhou, D. Hua, Y. Wang, Q. Yan, S. Li, Y. Li, H. Wang, "Improvement of the signal to noise ratio of lidar echo signal based on wavelet de-noising technique," Optics and Lasers in Engineering, Vol. 51, No. 8, pp. 961-966, 2014. https://doi.org/10.1016/j.optlaseng.2013.02.011
  7. A. Rybaltowski, A. Taflove, "Signal-to-noise ratio in direct-detection mid-infrared random-modulation continuous-wave lidar in the presence of colored additive noise," Optics Express, Vol. 9, No. 8, pp. 389-399, 2001. https://doi.org/10.1364/OE.9.000389
  8. Z. Zhang, Y. Zhao, Y. Zhang, L. Wu, J. Su, "A real-time noise filtering strategy for photon counting 3d imaging lidar," Optics Express, Vol. 21, No. 8, pp. 9247-9254, 2013. https://doi.org/10.1364/OE.21.009247
  9. F. Mao, W. Gong, C. Li, "Anti-noise algorithm of lidar data retrieval by combining the ensemble kalman filter and the fernald method," Optics Express, Vol. 21, No. 7, pp. 8286-8297, 2013. https://doi.org/10.1364/OE.21.008286
  10. M.U. Piracha, D. Nguyen, D. Mandridis, T. Yilmaz, I. Ozdur, S. Ozharar, P.J. Delfyett, "Range resolved lidar for long distance ranging with sub-millimeter resolution," Optics Express, Vol. 18, No. 7, pp. 7184-7189, 2010. https://doi.org/10.1364/OE.18.007184
  11. P.W. Zhai, Y. You, G.W. Kattawar, P. Yang, "Monostatic lidar/radar invisibility using coated spheres," Optics Express, Vol. 16, No. 3, pp. 1431-1439, 2008. https://doi.org/10.1364/OE.16.001431
  12. J. Zheng, "Analysis of optical frequency-modulated continuous-wave interference," Applied optics, Vol. 43, No. 21, pp. 4189-4198, 2004. https://doi.org/10.1364/AO.43.004189
  13. J. Zheng, "Continued analysis of optical frequency-modulated continuous-wave interference," Applied optics, Vol. 44, No. 5, pp. 765-769, 2005. https://doi.org/10.1364/AO.44.000765
  14. A.H. Elghandour, C.D. Ren, "Modeling and comparative study of various detection techniques for FMCW LIDAR using optisystem," Proceedings of the 2013-Fifth International Symposium on Photoelectronic Detection and Imaging, pp. 890529, 2013.
  15. A. Maimone, H. Fuchs, "Reducing interference between multiple structured light depth sensors using motion," Proceedings of the Virtual Reality Short Papers and Posters, pp. 51-54, 2012.
  16. G. Kim, J. Eom, S. Park, Y. Park, "Occurrence and characteristics of mutual interference between LIDAR scanners," Proceedings of the SPIE 9504, Photon Counting Applications, pp. 95040K, 2015.
  17. G. Kim, J. Eom, S. Hur, Y. Park, "Analysis on the characteristics of mutual interference between pulsed terrestrial LIDAR scanners," Proceedings of IEEE International Geoscience and Remote Sensing Symposium, pp. 2151-2154, 2015.
  18. G. Kim, J. Eom, Y. Park, "Investigation on the occurrence of mutual interference between pulsed terrestrial LIDAR scanners," Proceedings of IEEE Intelligent Vehicles Symposium, pp. 437-442, 2015.
  19. G. M. Brooker, "Mutual interference of millimeter-wave RADAR systems," IEEE Transactions on Electromagnetic Compatibility, Vol. 49, No. 1, pp. 170-181, 2007. https://doi.org/10.1109/TEMC.2006.890223
  20. M. Goppelt, H.-L. Blcher, W. Menzel, "Automotive RADAR-investigation of mutual interference mechanisms," Advances in Radio Science, Vol. 8, No. 5, pp. 55-60, 2010. https://doi.org/10.5194/ars-8-55-2010
  21. P.F. McManamon, "Review of LADAR: a historic, yet emerging, sensor technology with rich phenomenology," Optical Engineering, Vol. 51, No. 6, pp. 060901, 2012 https://doi.org/10.1117/1.OE.51.6.060901
  22. H. Kawata, S. Kamimura, A. Ohya, J. Iijima, S. Yuta, "Advanced functions of the scanning laser range sensor for environment recognition in mobile robots," Proceedings of IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 414-419, 2006.
  23. D. Jimnez, D. Pizarro, M. Mazo, S. Palazuelos, "Modeling and correction of multipath interference in time of flight cameras," Image and Vision Computing, Vol. 32, No. 1, pp. 1-13, 2014. https://doi.org/10.1016/j.imavis.2013.10.008
  24. A.A. Dorrington, J.P. Godbaz, M.J. Cree, A.D. Payne, L.V. Streeter, "Separating true range measurements from multi-path and scattering interference in commercial range cameras," Proceedings of the IS&T/SPIE Electronic Imaging, pp. 786404, 2011.
  25. J.P. Godbaz, M.J. Cree, A.A. Dorrington, "Closed-form inverses for the mixed pixel/multipath interference problem in AMCW LIDAR," Proceedings of the IS&T/SPIE Electronic Imaging, pp. 829618, 2012.
  26. D. Falie, V. Buzuloiu, "Noise characteristics of 3D time-of-flight cameras," Proceedings of the International Symposium on Signals, Circuits and Systems, Vol. 1, pp. 1-4, 2007.
  27. S.A. Guomundsson, H. Aanæs, R. Larsen, "Environmental effects on measurement uncertainties of time-of-flight cameras," International Symposium on Signals, Circuits and Systems, Vol. 1, pp. 1-4, 2007.
  28. J. Hancock, Laser intensity-based obstacle detection and tracking, Ph.D. thesis, Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 1999.
  29. SICK, Operating instructions for laser measurement sensors of the LMS5xx product family, SICK AG, 2015.
  30. M. Pharr, G. Humphreys, Physically based rendering: From theory to implementation, 2nd Edition, Morgan Kaufmann, 2010.
  31. R. Sabatini, M.A. Richardson, "Airborne laser systems testing and analysis," NATO Science and Technology Organization, 2010.