Author Affiliations
1Institute of Mircroelectronics, Chinese Academy of Sciences, Beijing 100029, China2University of Chinese Academy of Sciences, Beijing 100049, Chinashow less
Fig. 1. Application scenarios. (a) Perimeter protection
[9]; (b) industrial monitoring
[10]; (c) intrusion warning
[11]; (d) cultural relic protection
[12] Fig. 2. Drones equipped with security LiDAR for detecting intrusion target in forest scenario
[15] Fig. 6. Working principle of traditional mechanical LiDAR
[21] Fig. 7. SICK safety laser scanner series
[22] Fig. 8. Schematic of MEMS. (a) Working principle of MEMS LiDAR
[24]; (b) MEMS scanning mirror
[25] Fig. 9. Working principle of Flash LiDAR
[21] Fig. 10. Working scenario and experimental results of Flash LiDAR
[31]. (a) Experimental setup with real-time tracking on PC and Flash LiDAR on pan-tilt head; (b) point cloud of scenario; (c) intensity view of scenario with person marked center; (d) range view of scenario with person marked center
Fig. 11. Working principle of OPA
[33] Fig. 12. Working principle of Quanergy S3 LiDAR
[34] Fig. 13. Relationship between maximum permissible exposure and wavelength
[35] Fig. 14. Miniaturized LiDAR. (a) RealSense L515
[40]; (b) SICK safety LiDAR nanoScan3
[41] Fig. 15. Micrograph of fully differential main amplifier chip
[42] Fig. 16. Working flow chart of FMCW LiDAR
[44] Fig. 17. Working principle of coherent LiDAR
[45]. (a) Schematic of solid-state LiDAR system with transmittable and receivable optical phased array; (b) chip containing LiDAR system on top of dime
Fig. 18. Equipment diagram of security system
[50]. (a) Optosafe Opto-Q-Guard system; (b) electronic equipment monitoring
Fig. 19. Security robots. (a) Intelligent inspection robot equipped with LiDAR
[52]; (b) Orby-One tracking robot
[53] | Security scenario | Dectect object |
|---|
| Perimeter protection | People, animal, and weapon | | Traffic control | People, car, animal, and rolling stone | | Cultural relic protection | People | | Airborne intrusion warning | UAV, bird, and people |
|
Table 1. Detecting targets in different security scenarios
| Company | Product model | Accuracy /mm | Angular resolution /(°) | Mass /kg | Size /(mm×mm×mm) | Cost /USD |
|---|
| Riegl | VZ-400i | 5 | 0.0007 (horizontal) and0.0005 (vertical) | 9.7 | 206×206×308 | Over 105 | | Optech | Galaxy T2000 | 8 | | 27 | 340×340×250 | Over 106 | | Leica | ScanStation P50 | 3 | 0.0022 | 12.5 | 238×358×395 | 115240 | | Trimble | Trimble GX | 7 | 0.003 (horizontal) and0.004 (vertical) | 13 | 323×343×404 | 183300 |
|
Table 2. Product indicators of traditional security LiDAR
| Company | Technological regime | Product model | Maximum measurement distance /m | Field of view /(°) | Mass /kg | Wavelength /nm | Cost /USD |
|---|
| SICK | Mechanical | outdoorScan3 | 4 | 275 | 1.15 | 850 | 4834 | | nanoScan3 | 3 | 275 | 0.67 | 905 | | | TiM-S | 25 | 270 | 0.25 | 850 | | | S300 | 3 | 270 | 1.20 | 905 | 2437 | | S3000 | 7 | 190 | 3.30 | 905 | 4500 | | TiM1xx | 10 | 200 | 0.09 | 850 | 782 | | HOKUYO | Mechanical | UAM-05LP | 20 | 270 | 0.80 | 905 | 1200 | | UTM-30LX | 60 | 270 | 0.37 | 905 | 4800 | | UXM-30LX | 30 | 190 | 0.80 | 905 | 4800 | | UST-10LX | 30 | 270 | 0.13 | 905 | 1600 | | YVT-35LX | 35 (horizontal) and 14(vertical) | 210(horizontal) and40(vertical) | 0.65 | 905 | 7500 | | Quanergy | Mechanical | M8 | 300@ρ=80% | 360(horizontal) and20(vertical) | 1.0 | 905 | 5000 | | OPA | S3-1 | 150@ρ=80% | 120(horizontal) and10(vertical) | 0.5 | 905 | 250 | | Ouster | Flash | OS0-32 | 55 | 95(vertical) | 0.445 | 850 | 6000 | | OS1-32 | 120 | 45(vertical) | 0.445 | 850 | 8000 | | OS2-32 | 240 | 25(vertical) | 0.930 | 850 | 16000 |
|
Table 3. Product indicators of foreign mainstream security LiDAR
[16-18] | Company | Technological regime | Product model | Maximum measurement distance /m | Field of view /(°) | Mass /kg | Wavelength /nm | Cost /USD |
|---|
| Galaxy electronic | Mechanical | GL-11xx | 30@ρ=10% | 270 | 1.80 | 905 | | | GL-21xx | 20@ρ=10% | 180 | 1.00 | 905 | | | GL-41xx | 260@ρ=10% | 100 | 14.00 | 905 | | | GL-52xx | 10@ρ=10% | 300 | 0.75 | 905 | | | LiShen inelligent system | Mechanical | CX16-151C | 150@ρ=30% | 360(horizontal) and20(vertical) | 0.87 | 905 | 2800 | | CX32-151A | 150@ρ=30% | 360(horizontal) and31(vertical) | 1.50 | 905 | 8500 | | MEMS | LS20C | 200 | 120(horizontal) and20(vertical) | | 905 | 1500 | | LS21A | Over 200 | 60 (horizontal) and20(vertical) | | 1550 | 1500 | | Benewake | Mechanical | TF02 | 22@ρ=90% | 3.0 | 0.052 | 905 | 162 | | TF03 | 180@ρ=90% | 0.5 | 0.077 | 905 | 229 | | Flash | CE03-D | 28@ρ=90% | 240.0 | 0.356 | 850 | 1500 | | Lorentech | Flash | IT series | 80@ρ=80% | 60(horizontal) and45(vertical) | 0.62 | 850 | | | IG series | 40@ρ=80% | 60(horizontal) and30(vertical) | 0.38 | 850 | | | IM series | 20@ρ=80% | 30(horizontal) and20(vertical) | 0.30 | 850 | |
|
Table 4. Product indicators of domestic mainstream security LiDAR
[19] | Scheme | Measurement distance | Accuracy | Anti-interference | Power | Cost |
|---|
| TOF | Best | Worst | Worst | Worst | High | | AMCW | Worst | Better | Better | Better | Medium | | FMCW | Better | Best | Best | Best | High |
|
Table 5. Comparison of three ranging schemes
| Scanning scheme | Measurement distance | Accuracy | Cost | Size | Technological readiness level | Stability |
|---|
| Mechanical | Better | Better | High | Worst | Best | Worst | | MEMS | Worst | Worst | Medium | Better | Better | Better | | Flash | Worst | Worst | Low | Better | Better | Better | | OPA | Worst | Worst | Low | Better | Worst | - |
|
Table 6. Comparison of four scanning schemes
| Wavelength | Anti-interference | Eye- safety | Hype cycle | Cost |
|---|
| 850 nm | Better | Worst | Worst | Better | | 950 nm | Better | Worst | Better | Better | | 1550 nm | Worst | Better | Worst | Worst |
|
Table 7. Comparison of three light sources for LiDAR
![Application scenarios. (a) Perimeter protection[9]; (b) industrial monitoring[10]; (c) intrusion warning[11]; (d) cultural relic protection[12]](/richHtml/lop/2021/58/1/0100002/img_1.jpg)
![Drones equipped with security LiDAR for detecting intrusion target in forest scenario[15]](/richHtml/lop/2021/58/1/0100002/img_2.jpg)
![Working principle of traditional mechanical LiDAR[21]](/Images/icon/loading.gif){kind=icon}
