Design of an Adaptive Lightweight LiDAR to Decouple Robot-Camera Geometry
IEEE Transactions on Robotics(2023)
摘要
A fundamental challenge in robot perception is the coupling of the sensor
pose and robot pose. This has led to research in active vision where robot pose
is changed to reorient the sensor to areas of interest for perception. Further,
egomotion such as jitter, and external effects such as wind and others affect
perception requiring additional effort in software such as image stabilization.
This effect is particularly pronounced in micro-air vehicles and micro-robots
who typically are lighter and subject to larger jitter but do not have the
computational capability to perform stabilization in real-time. We present a
novel microelectromechanical (MEMS) mirror LiDAR system to change the field of
view of the LiDAR independent of the robot motion. Our design has the potential
for use on small, low-power systems where the expensive components of the LiDAR
can be placed external to the small robot. We show the utility of our approach
in simulation and on prototype hardware mounted on a UAV. We believe that this
LiDAR and its compact movable scanning design provide mechanisms to decouple
robot and sensor geometry allowing us to simplify robot perception. We also
demonstrate examples of motion compensation using IMU and external odometry
feedback in hardware.
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