Low-cost Retina-like Robotic Lidars Based on Incommensurable Scanning

TL;DR

This paper introduces a low-cost, retina-like robotic lidar based on incommensurable scanning, enabling high resolution and eye-like attention features suitable for mass production and autonomous robot applications.

Contribution

The paper presents a novel incommensurable scanning method for robotic lidars that simplifies manufacturing and introduces unique features like peaked central density and higher resolution.

Findings

Achieved higher resolution than conventional lidars

Demonstrated eye-like attention feature in lidar scanning

Enabled straightforward mass production of lidar sensors

Abstract

High performance lidars are essential in autonomous robots such as self-driving cars, automated ground vehicles and intelligent machines. Traditional mechanical scanning lidars offer superior performance in autonomous vehicles, but the potential mass application is limited by the inherent manufacturing difficulty. We propose a robotic lidar sensor based on incommensurable scanning that allows straightforward mass production and adoption in autonomous robots. Some unique features are additionally permitted by this incommensurable scanning. Similar to the fovea in human retina, this lidar features a peaked central angular density, enabling in applications that prefers eye-like attention. The incommensurable scanning method of this lidar could also provide a much higher resolution than conventional lidars which is beneficial in robotic applications such as sensor calibration. Examples making use of these advantageous features are demonstrated.