Journal of the Korea Institute of Information and Communication Engineering (한국정보통신학회논문지)

The Korea Institute of Information and Commucation Engineering (한국정보통신학회)
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Adaptive Convolution Filter-Based 3D Plane Reconstruction for Low-Power LiDAR Sensor Systems

저전력 LiDAR 시스템을 위한 Adaptive Convolution Filter에 기반한 3D 공간 구성

  • Received : 2021.08.20
  • Accepted : 2021.08.30
  • Published : 2021.10.31
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Abstract

In the case of a scanning type multi-channel LiDAR sensor, the distance error called a walk error may occur due to a difference in received signal power. This work error causes different distance values to be output for the same object when scanning the surrounding environment based on multiple LiDAR sensors. For minimizing walk error in overlapping regions when scanning all directions using multiple sensors, to calibrate distance for each channels using convolution on external system. Four sensors were placed in the center of 6×6 m environment and scanned around. As a result of applying the proposed filtering method, the distance error could be improved by about 68% from average of 0.5125 m to 0.16 m, and the standard deviation could be improved by about 48% from average of 0.0591 to 0.030675.

Scanning 타입 다채널 LiDAR 센서의 경우 수신되는 신호의 세기의 차이에 의한 walk error라는 거리 오차가 발생할 수 있다. 이러한 오차는 다수의 LiDAR 센서를 기반으로 주변 환경을 스캐닝할 경우 같은 물체에 대해 서로 다른 거리 값을 출력하게 한다. 다수의 LiDAR 센서를 이용하여 전방향 스캐닝할 경우, 센서의 시야각이 겹치는 구간에서 발생하는 walk error를 최소화하기 위해 외부 시스템 상에서 센서의 각 채널에 대한 convolution을 수행하고 오차를 최소화하고자 한다. 약 6×6 m 환경의 중앙에 4개의 LiDAR 센서들을 배치하고 주변 환경을 스캐닝 하였으며, 필터링을 적용한 결과, 거리 오차를 평균 0.5125m에서 0.16m까지 약 68% 개선할 수 있었으며, 표준 편차는 평균 0.0591에서 0.030675까지 약 48% 개선할 수 있었다.

Keywords

Acknowledgement

This work was supported by the Technology Innovation Program (P0013847, Development of automatic steering-based accident avoidance system for electric-driven port yard tractors operating at low speed (less than 30 km/h), 50%) funded By the Ministry of Trade, Industry & Energy(MOTIE, Korea) and Basic Science Research Program through the National Research Foundation of Korea (NRF) funded by the Ministry of Science and ICT (NRF2019R1A2C2005099,10%), and partly supported by Institute of Information & communications Technology Planning & Evaluation (IITP) grant funded by the Korea government (MSIT) (No. 2021-0-00944, Metamorphic approach of unstructured validation/verification for analyzing binary code, 40%).

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