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Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform

Multi-beam lidar (MBL) rangefinders are becoming increasingly compact, light, and accessible 3D sensors, but they offer limited vertical resolution and field of view. The addition of a degree-of-freedom to build a rotating multi-beam lidar (RMBL) has the potential to become a common solution for aff...

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Detalles Bibliográficos
Autores principales: Morales, Jesús, Plaza-Leiva, Victoria, Mandow, Anthony, Gomez-Ruiz, Jose Antonio, Serón, Javier, García-Cerezo, Alfonso
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2018
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5856095/
https://www.ncbi.nlm.nih.gov/pubmed/29385705
http://dx.doi.org/10.3390/s18020395
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author Morales, Jesús
Plaza-Leiva, Victoria
Mandow, Anthony
Gomez-Ruiz, Jose Antonio
Serón, Javier
García-Cerezo, Alfonso
author_facet Morales, Jesús
Plaza-Leiva, Victoria
Mandow, Anthony
Gomez-Ruiz, Jose Antonio
Serón, Javier
García-Cerezo, Alfonso
author_sort Morales, Jesús
collection PubMed
description Multi-beam lidar (MBL) rangefinders are becoming increasingly compact, light, and accessible 3D sensors, but they offer limited vertical resolution and field of view. The addition of a degree-of-freedom to build a rotating multi-beam lidar (RMBL) has the potential to become a common solution for affordable rapid full-3D high resolution scans. However, the overlapping of multiple-beams caused by rotation yields scanning patterns that are more complex than in rotating single beam lidar (RSBL). In this paper, we propose a simulation-based methodology to analyze 3D scanning patterns which is applied to investigate the scan measurement distribution produced by the RMBL configuration. With this purpose, novel contributions include: (i) the adaption of a recent spherical reformulation of Ripley’s K function to assess 3D sensor data distribution on a hollow sphere simulation; (ii) a comparison, both qualitative and quantitative, between scan patterns produced by an ideal RMBL based on a Velodyne VLP-16 (Puck) and those of other 3D scan alternatives (i.e., rotating 2D lidar and MBL); and (iii) a new RMBL implementation consisting of a portable tilting platform for VLP-16 scanners, which is presented as a case study for measurement distribution analysis as well as for the discussion of actual scans from representative environments. Results indicate that despite the particular sampling patterns given by a RMBL, its homogeneity even improves that of an equivalent RSBL.
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spelling pubmed-58560952018-03-20 Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform Morales, Jesús Plaza-Leiva, Victoria Mandow, Anthony Gomez-Ruiz, Jose Antonio Serón, Javier García-Cerezo, Alfonso Sensors (Basel) Article Multi-beam lidar (MBL) rangefinders are becoming increasingly compact, light, and accessible 3D sensors, but they offer limited vertical resolution and field of view. The addition of a degree-of-freedom to build a rotating multi-beam lidar (RMBL) has the potential to become a common solution for affordable rapid full-3D high resolution scans. However, the overlapping of multiple-beams caused by rotation yields scanning patterns that are more complex than in rotating single beam lidar (RSBL). In this paper, we propose a simulation-based methodology to analyze 3D scanning patterns which is applied to investigate the scan measurement distribution produced by the RMBL configuration. With this purpose, novel contributions include: (i) the adaption of a recent spherical reformulation of Ripley’s K function to assess 3D sensor data distribution on a hollow sphere simulation; (ii) a comparison, both qualitative and quantitative, between scan patterns produced by an ideal RMBL based on a Velodyne VLP-16 (Puck) and those of other 3D scan alternatives (i.e., rotating 2D lidar and MBL); and (iii) a new RMBL implementation consisting of a portable tilting platform for VLP-16 scanners, which is presented as a case study for measurement distribution analysis as well as for the discussion of actual scans from representative environments. Results indicate that despite the particular sampling patterns given by a RMBL, its homogeneity even improves that of an equivalent RSBL. MDPI 2018-01-30 /pmc/articles/PMC5856095/ /pubmed/29385705 http://dx.doi.org/10.3390/s18020395 Text en © 2018 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Morales, Jesús
Plaza-Leiva, Victoria
Mandow, Anthony
Gomez-Ruiz, Jose Antonio
Serón, Javier
García-Cerezo, Alfonso
Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
title Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
title_full Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
title_fullStr Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
title_full_unstemmed Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
title_short Analysis of 3D Scan Measurement Distribution with Application to a Multi-Beam Lidar on a Rotating Platform
title_sort analysis of 3d scan measurement distribution with application to a multi-beam lidar on a rotating platform
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5856095/
https://www.ncbi.nlm.nih.gov/pubmed/29385705
http://dx.doi.org/10.3390/s18020395
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