Development of a 3D LiDAR by pitching a solid-state linear 2D LiDAR
2025
Sigfús Axfjörð Sigfússon 1981- | Háskóli Íslands
The design process of a 3D LiDAR by pitching a low-cost 2D linear solid-state LiDAR is presented. Based on research and the state of the art, a set of objectives were defined, including the design of a pitching platform, a controlling algorithm for the system and generation of a standard 3D point cloud file. All the stated objectives were met, and proof of concept provided accordingly. The design was based on a comprehensive requirement study that resulted in the implementation and testing of a low-cost 3D LiDAR. Following the employment of the 3D LiDAR prototype, three different tests were conducted. Test results provided point cloud scan data sets that were analyzed and the findings presented. Test results showed that the homogenous response of the 3D LiDAR prototype had higher range errors than expected. Additionally, two different object detection tests were conducted, both of which showed promising results. However, those tests also included higher range errors than expected, suggesting systematic errors in the 2D LiDAR sensor module utilized. Discussion and future work are presented including propositions for betterment and further development of the system.
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