Fault Detection of In-Vehicle Laser Range Sensor by Scan Matching

Abstract

This paper presents a method of fault detection of an in-vehicle laser range sensor. We detect the fault of the laser range sensor based on the point-to-point laser scan matching. If the cost function related to the laser scan matching becomes a large value, the laser range sensor is decided to be faulty. An occupancy grid method removes moving objects from the laser scan image because moving objects make the cost function a large value. The experimental result validates the effectiveness of our method.