A high frequency 3D LiDAR with enhanced measurement density via Papoulis-Gerchberg

摘要

Light Detection and Ranging (LiDAR) devices are gaining more importance for obtaining sensory information in mobile robot applications. However, existing solutions in literature yield low frequency outputs with huge measurement delay to obtain 3D range image of the environment. This paper introduces the design and construction of a 3D range sensor based on rotating a 2D LiDAR around its pitch axis. Different than previous approaches, we adjust our scan frequency to 5 Hz to support its application on mobile robot platforms. However, increasing scan frequency drastically reduces the measurement density in 3D range images. Therefore, we propose two post-processing algorithms to increase measurement density while keeping the 3D scan frequency at an acceptable level. To this end, we use an extended version of the Papoulis-Gerchberg algorithm to achieve super-resolution on 3D range data by estimating the unmeasured samples in the environment. In addition, we propose a probabilistic obstacle reconstruction algorithm to consider the probabilities of the estimated (virtual) points and to obtain a very fast prediction about the existence and shape of the obstacles.