LiDAR Pose Estimation for Vehicle Safety Systems

Paper #:
  • 2010-01-0464

Published:
  • 2010-04-12
DOI:
  • 10.4271/2010-01-0464
Citation:
Britt, J. and Bevly, D., "LiDAR Pose Estimation for Vehicle Safety Systems," SAE Technical Paper 2010-01-0464, 2010, https://doi.org/10.4271/2010-01-0464.
Affiliated:
Pages:
10
Abstract:
This paper presents a proof of concept for an algorithm to determine the attitude of a multi-layer laser rangefinder or LiDAR (Light Detection And Ranging) relative to a reference frame given the ability of the LiDAR to make measurements to a planar surface with sufficient and proper excitation. Due to the highly non-linear nature of the problem presented, weighted recursive least squares along with a high order unscented transform are used to obtain a final result which is capable of being extended to vehicle safety systems to provide a measurement of the roll and pitch of a vehicle relative to the road's surface with a high degree of accuracy.
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