This work studies the design of multi-beam Lidar systems which are given an added degree of freedom by placing the Lidar on a moving platform in order to improve scan resolution. This work is motivated by insufficient vertical resolution in currently available multi-beam Lidar sensors, which are limited by how closely together beams can be placed. This vertical resolution can be improved by placing the Lidar on a moving platform, which allows the Lidar's field of view to be changed. The platform's configuration and trajectory must be chosen carefully to balance the field of view, resolution, and period of the scan. A study of different platform geometries and trajectories for rotating multi-beam Lidar is presented, which includes guidelines for platform and trajectory design. Then, a selection of metrics are presented to analyze and quantify the distributions of measurements from these scans, with a discussion on the relevance of each method to applications in robotics. Finally, the parameters of a Lissajous-like trajectory driving an experimental pitching multi-beam Lidar is optimized to achieve the best detection performance while constraining scan time. Altogether, this work provides a comprehensive guide for designing, analyzing, and optimizing multi-beam Lidar systems with an added degree of freedom from rotation.
|Advisor:||Clayton, Garrett M.|
|Commitee:||Nataraj, C., Peyton Jones, James C., Andersson, Sean|
|Department:||College of Engineering|
|School Location:||United States -- Pennsylvania|
|Source:||DAI-A 82/7(E), Dissertation Abstracts International|
|Subjects:||Mechanical engineering, Optics, Technical Communication, Remote sensing, Robotics|
|Keywords:||Laser radar, Lidar, Mechatronics, Point Pattern Analysis|
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