広FOV 3D LIDARのレーザ点群の疎密制御

抄録

It is very important for the autonomous mobile robot to recognize the environment. We have developed Wide FOV 3D LiDAR aiming for better environmental recognition than general 3D LiDAR. Wide FOV 3D LiDAR is far superior to the vertical viewing angle of the conventional one. Furthermore, its rotational scanning speed is controllable. Therefore, if the rotational scanning of Wide FOV 3D LiDAR is slowed down, its point cloud becomes high density. However, the slow rotational scanning will lower real-time performance of 3-dimensional scan. This paper presents the density control method of the point cloud with Wide FOV 3D LiDAR for compatibility between generation of high density point cloud and maintaining of real time performance of 3-dimensional scan. Our proposed method extended object detectable distance without reducing real-time performance.