Joint Temperature-Lasing Mode Compensation for Time-of-Flight LiDAR Sensors
2015 (English)In: Sensors, E-ISSN 1424-8220, Vol. 15, no 12, p. 31205-31223
Article in journal (Refereed) Published
Abstract [en]
We propose an expectation maximization (EM) strategy for improving the precision of time of flight (ToF) light detection and ranging (LiDAR) scanners. The novel algorithm statistically accounts not only for the bias induced by temperature changes in the laser diode, but also for the multi-modality of the measurement noises that is induced by mode-hopping effects. Instrumental to the proposed EM algorithm, we also describe a general thermal dynamics model that can be learned either from just input-output data or from a combination of simple temperature experiments and information from the laser’s datasheet. We test the strategy on a SICK LMS 200 device and improve its average absolute error by a factor of three.
Place, publisher, year, edition, pages
MDPI, 2015. Vol. 15, no 12, p. 31205-31223
Keywords [en]
LiDAR, EM, Gaussian mixture model (GMM), mode hopping, ToF, maximum likelihood (ML), multi-modality, SICK LMS200
National Category
Control Engineering
Research subject
Control Engineering
Identifiers
URN: urn:nbn:se:oru:diva-82181DOI: 10.3390/s151229854ISI: 000367539100089PubMedID: 26690445Scopus ID: 2-s2.0-84949895688OAI: oai:DiVA.org:oru-82181DiVA, id: diva2:1433171
Funder
Swedish Research Council
Note
Funding Agency:
DISIRE
Norrbottens Forskningsrad
2020-05-292020-05-292022-02-10Bibliographically approved