An Abstraction Of The Lidar Measurements

The laser scanner seems to be one of the favorite sensors used in mobile robots (autonomous car) localization. The Lidar is similar to the radar except radio signals are substituted with laser beams. Measurements are a collection of n lengths obtained for different firing angles. The paper presents an abstraction of this collection. The abstraction reduce the dimensions of data from n to 3 and can be used in obstacles avoiding or in localization. The paper presents the abstraction definition and a simulation scenario where the abstraction is used.