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Time-Frequency Range Estimation Method for Pulsed LiDAR
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AI
DOI：10.1109/TVT.2022.3207588.png)
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Abstract
En 中文
Light detection and ranging (LiDAR) is the key sensor behind the 3D perception of self-driving vehicles. The range, precision and accuracy of a LiDAR sensor mainly depend on how each received pulse is captured, sampled and processed. However, to the best of our knowledge, such a topic is yet to be investigated in depth. This work aims to fill such a gap by introducing a new range estimation method. The method takes only 3 samples from the rising edge of the received pulse and combines two simple estimation techniques: time-domain edge detection and frequency-domain phase estimation. The proposed method was demonstrated over a dynamic range of 45 dB, proving to be robust over the entire interval. Sub-centimeter precision and accuracy were achieved over a dynamic range of 24 dB. The obtained estimations are bounded by a derived theoretical limit that is identical to a Cramer-Rao lower bound of a phase estimator.
Keywords:
LiDAR
full-waveform LiDAR
delay estimation
automotive LiDAR
autonomous driving
Journal
IF:
7.1
Papers:
1.8W
Citations:
6.6W