3D Sensing of a Moving Object with a Nodding 2D LIDAR and Reconfigurable Mirrors

TL;DR

This paper introduces a reconfigurable nodding 2D LIDAR system with mirrors that enhances 3D perception of moving objects by increasing scan density and update rate, enabling better detection and tracking at lower costs.

Contribution

It presents a novel reconfigurable optical design and calibration method for a nodding 2D LIDAR, improving 3D sensing capabilities for dynamic environments.

Findings

Achieves three times higher scan update rate.

Provides denser 3D scans of moving objects.

Effective calibration method for dynamic object detection.

Abstract

Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse data generated by this sensor poses challenges in understanding the characteristics of moving objects within an uncertain environment. This paper proposes a novel design of the nodding Lidar but provides dynamic reconfigurability in terms of limiting the field of view of the sensor using a set of optical mirrors. It not only provides denser scans, but it also achieves a three times higher scan update rate. Additionally, we propose a novel calibration mechanism for this sensor and prove its effectiveness for dynamic object detection and tracking.