Key technology and application algorithm of intelligent driving vehicle LiDAR

Chen Xiaodong; Zhang Jiachen; Pang Weisong; Ai Dahang; Wang Yi; Cai Haiyu

doi:10.12086/oee.2019.190182

[1] Lv Y C, Xi J P, Lu Y. Analysis of patent information of lidar technology in China[J]. Science and Technology Innovation Herald, 2017, 14(20): 244–250.

[2] Liu B, Zhang J, Lu M, et al. Research progress of laser radar applications[J]. Laser & Infrared, 2015, 45(2): 117–122.

[3] Yu Y J. The main technical branches and development trend of vehicle LiDAR[J]. E-Science Technology & Application, 2018, 9(6): 16–24.

[4] Jeff Hecht. Lidar for Self-Driving Cars[J]. Optics & Photonics News, 2018, 29(1)：26–33.

[5] Peng J F. Study on automated extraction methods of highway elements from mobile lidar point clouds[D]. Beijing: Beijing University of Civil Engineering and Architecture, 2017: 1–10.

[6] Gong S L. Several key technologies of 3d laser point cloud processing software[J]. Bulletin of Surveying and Mapping, 2014(6): 135–136.

[7] He Z Y. Research on 3D imaging laser radar system for ve-hicle[D]. Harbin: Harbin Institute of Technology, 2015: 10–32.

[8] Dong S J. Design and experimental research of vehicle laser radar system[D]. Nanjing: Nanjing University of Science & Technology, 2017: 15–44.

[9] Halterman R, Bruch M. Velodyne HDL-64E LIDAR for un-manned surface vehicle obstacle detection[J]. Proceedings of SPIE, 2010, 7692: 76920D.

[10] Dong G Y, Liu Z J. MOEMS microlens technique and its appli-cation on lidar[J]. Journal of CAEIT, 2011, 6(1): 36–38.

[11] Wu C, Liu C B, Han X E. Design of waveguide optical phased array ladar receiving system[J]. Infrared and Laser Engineering, 2016, 45(10): 1030003.

[13] HALL DAVID S. High definition lidar system: WO2008008970A2[P]. 2008-01-17.

[14] Yi J C. Velodyne's 128-line lidar, which measures twice as far as 64, has a maximum vertical resolution of 0.17°[EB/OL]. (2017-11-08). https://www.leiphone.com/news/201711/ ut-vihH1L9rAP67GL.html.

[15] Robot. Quanergy diss industry leader Velodyne: mechanical lidar is not commercially viable at all[EB/OL]. (2018-02-28). http://tech.ifeng.com/a/20180228/44891708_0.shtml.

[16] Han Y, Sun H Y, Li Y C, et al. Advances in foreign simulation softwares of imaging laser radar[J]. Laser & Optoelectronics Progress, 2013, 50(1): 010004.

[17] Siepmann J P, Rybaltowski A. Integrable ultra-compact, high-resolution, real-time MEMS LADAR for the individual soldier[C]//Proceedings of 2005 IEEE Military Communications Conference, 2005: 3073–3079.

[18] Li Q K, Qiu Q. Design on omnidirectional optical system of lidar based on 2D MEMS mirror[J]. Journal of Applied Optics, 2018, 39(4): 460–465.

[19] Hung A C L, Lai H Y H, Lin T W, et al. An electrostatically driven 2D micro-scanning mirror with capacitive sensing for projection display[J]. Sensors and Actuators A: Physical, 2015, 222: 122–129.

[20] Huang C H, Yao J J, Wang L V, et al. A water-immersible 2-axis scanning mirror microsystem for ultrasound andha photoacoustic microscopic imaging applications[J]. Microsystem Technologies, 2013, 19(4): 577–582.

[21] Chen C D, Wang Y J, Chang P. A novel two-axis MEMS scanning mirror with a PZT actuator for laser scanning projection[J]. Optics Express, 2012, 20(24): 27003–27017.

[23] Han X Q, Li L, Tan D J, et al. Liquid crystal optical phased array technology[J]. Aeronautical Science & Technology, 2012(1): 65–69.

[24] Jin Y D, Yan A M, Hu Z J, et al. Research progress of optical waveguide phased array scanner[J]. Laser & Optoelectronics Progress, 2014, 51(8): 080002.

[25] Qu R H, Ye Q, Dong Z R, et al. Progress of optical phased array technology based on electro-optic material[J]. Chinese Journal of Lasers, 2008, 35(12): 1861–1867.

[26] Jin Y D. Analysis and optimization of high quality optical phased array scanning beam[D]. Shanghai: Shanghai Normal University, 2015: 1–40.

[27] Zhi Y N, Yan A M, Liu D A, et al. Electro-optical control two-dimension laser beam scanning array: CN201203740Y[P]. 2009-03-04.

[28] Wang Y C. Optical phased arrays laser radar system and performance analysis[D]. Harbin: Harbin Institute of Technology, 2007: 1–42.

[29] Chen J. Research on acquisition algorithm of liquid crystal phased array control data and design and implementation of display control system[D]. Chengdu: University of Electronic Science and Technology of China, 2009: 1–24.

[30] Meyer R A. Optical beam steering using a multichannel lithium tantalate crystal[J]. Applied Optics, 1972, 11(3): 613–616.

[31] Lin Y J. The design of receiving system in optical waveguide phased array radar[D]. Xi’an: Xidian University, 2015: 1–26.

[32] Wu C, Liu C B, Han X E. Design of waveguide optical phased array ladar receiving system[J]. Infrared and Laser Engineering, 2016, 45(10): 1030003.

[33] Wight D R, Heaton J M, Hughes B T, et al. Novel phased array optical scanning device implemented using GaAs/AlGaAs technology[J]. Applied Physics Letters, 1991, 59(8): 899–901.

[34] Hobbs R H, Cantor A J, Grantham D H, et al. Laser electro-optic phased array devices (LEOPARD)[C]//Proceedings of Conference Proceedings LEOS Lasers and Electro-Optics Society, 1988: 94–95.

[35] Crouch S C, Reibel R R, Curry J, et al. Method and system for doppler detection and doppler correction of optical phase-encoded range detection: 20180224547[P]. 2018-08-09.

[36] Wang X, Wang J Q, Li K Q, et al. Fast segmentation of 3-D point clouds for intelligent vehicles[J]. Journal of Tsinghua University (Science and Technology), 2014, 54(11): 1440–1446.

[37] Yang F, Zhu Z, Gong X J, et al. Real-time dynamic obstacle detection and tracking using 3D Lidar[J]. Journal of Zhejiang University (Engineering Science), 2012, 46(9): 1565–1571.

[38] Qiu B Z, Zhang X Z. Grid-based clustering algorithm with the parameter automatization[J]. Journal of Zhengzhou University (Engineering Science), 2006, 27(2): 91–93.

[39] Ye Y T, Li B J, Fu L M. Fast Object Detection and Tracking in Laser Data for Autonomous Driving[J]. Geomatics and Information Science of Wuhan University, 2019, 44(1): 139–144, 152.

[40] Klasing K, Wollherr D, Buss M. A clustering method for efficient segmentation of 3D laser data[C]//Proceedings of 2008 IEEE International Conference on Robotics and Automation, 2008: 4043–4048.

[41] Moosmann F, Pink O, Stiller C. Segmentation of 3D LIDAR data in non-flat urban environments using a local convexity criterion[C]//Proceedings of 2009 IEEE Intelligent Vehicles Symposium, 2009: 215–220.

[42] Duan J M, Wang C R, Ren L, et al. Algorithm of driving area information extraction based on multi-layer lidar[J]. Application of Electronic Technique, 2017, 43(10): 78–82.

[43] Chen T T. 3D LIDAR-based dynamic vehicle detection and tracking[D]. Changsha: National University of Defense Technology, 2016.

[44] Wang D Z, Posner I, Newman P. Model-free detection and tracking of dynamic objects with 2D lidar[J]. The International Journal of Robotics Research, 2015, 34(7): 1039–1063.

[45] Lee J H, Tsubouchi T, Yamamoto K, et al. People tracking using a robot in motion with laser range finder[C]//Proceedings of 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006: 2936–2942.

[46] Coué C, Pradalier C, Laugier C, et al. Bayesian Occupancy filtering for multitarget tracking: an automotive application[J]. The International Journal of Robotics Research, 2006, 25(1): 19–30.

[47] Baig Q, Perrollaz M, Do Nascimento J B, et al. Using fast clas-sification of static and dynamic environment for improving Bayesian occupancy filter (BOF) and tracking[C]//Proceedings of 2012 International Conference on Control Automation Ro-botics and Vision, 2012: 656–661.

[48] Rusu R B, Bradski G, Thibaux R, et al. Fast 3D recognition and pose using the viewpoint feature histogram[C]//Proceedings of 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010: 2155–2162.

[49] Aldoma A, Vincze M, Blodow N, et al. CAD-model recognition and 6DOF pose estimation using 3D cues[C]//Proceedings of 2011 IEEE International Conference on Computer Vision Workshops, 2011: 585–592.

[50] Taati B, Bondy M, Jasiobedzki P, et al. Variable dimensional local shape descriptors for object recognition in range da-ta[C]//Proceedings of 2007 IEEE 11th International Conference on Computer Vision, 2007: 1–8.

[51] Guo Y L. Local feature description, 3D modeling and object reconstruction in point-cloud[D]. Changsha: National University of Defense Technology, 2015: 1–26.

[52] Mian A S, Bennamoun M, Owens R. Three-dimensional mod-el-based object recognition and segmentation in cluttered scenes[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 2006, 28(10): 1584–1601.

[53] Zhong Y. Intrinsic shape signatures: a shape descriptor for 3D object recognition[C]//Proceedings of 2009 IEEE 12th Interna-tional Conference on Computer Vision Workshops, 2009: 689–696.

[54] Smith R, Self M, Cheeseman P. Estimating uncertain spatial relationships in robotics[M]//Cox I J, Wilfong G T. Autonomous Robot Vehicles. New York, NY: Springer, 1990: 167–193.

[55] Montemerlo M, Thrun S, Koller D, et al. FastSLAM: a factored solution to the simultaneous localization and mapping prob-lem[C]//Proceedings of the AAAI National Conference on Artifi-cial Intelligence, 2002: 593–598.

[56] Grisetti G, Stachniss C, Burgard W. Improved techniques for grid mapping with Rao-Blackwellized particle filters[J]. IEEE Transactions on Robotics, 2007, 23(1): 34–46.

[57] Lu F, Milios E. Globally consistent range scan alignment for environment mapping[J]. Autonomous Robots, 1997, 4(4): 333–349.

[58] Hess W, Kohler D, Rapp H, et al. Real-time loop closure in 2D LIDAR SLAM[C]//Proceedings of 2016 IEEE International Conference on Robotics and Automation, 2016: 1271–1278.