Variable motion model for lidar motion distortion correction

Xianglu Ma; Xiaoshan Yao; Liming Ding; Tianshun Zhu; Guangming Yang

doi:10.1117/12.2606143

24 November 2021 Variable motion model for lidar motion distortion correction

Xianglu Ma, Xiaoshan Yao, Liming Ding, Tianshun Zhu, Guangming Yang

Proceedings Volume 12065, AOPC 2021: Optical Sensing and Imaging Technology; 1206524 (2021) https://doi.org/10.1117/12.2606143
Event: Applied Optics and Photonics China 2021, 2021, Beijing, China

Abstract

Cameras capture every pixel in transient duration for one frame image, while lidars capture every point in relevant long duration for one frame point cloud. When lidars stay static, point cloud will not cause motion distortion, when lidars move, point cloud will have motion distortion, this issue becomes worse with the increase of lidars’ linear velocity and angular velocity. As an inertial space movements’ sensor, IMU (inertial measurement unit) captures motions by a high frequency, which can be utilized to correct lidars motion distortion. In this paper, a variable motion model to correct lidars motion distortion is proposed. Comparing to the constant motion model, the proposed model has better performance on handling distortion caused by varying motion. Experiments results show that the variable motion model has a beneficial influence on distortion correction.

Citation Download Citation

Xianglu Ma, Xiaoshan Yao, Liming Ding, Tianshun Zhu, and Guangming Yang "Variable motion model for lidar motion distortion correction", Proc. SPIE 12065, AOPC 2021: Optical Sensing and Imaging Technology, 1206524 (24 November 2021); https://doi.org/10.1117/12.2606143

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available