Research on applying scan matching algorithm to improve velocity measurement accuracy of single-line ranging lidar

There has been increased demand for safe and efficient speed measurement of moving objects in engineering and practical applications, particularly in scenarios involving the measurement of the movement speed of objects at close range. Thus, this study designed a single-line scanning pulsed lidar system. In addition, algorithms were employed to enhance the measurement accuracy of the single-line ranging pulsed lidar. In this study, the lidar was installed on a guideway-integrated testing platform to obtain point cloud data, which was processed using the normal distributions transform (NDT), iterative closest points (ICP), and correlative scan matching (CSM) algorithms. The experimental results demonstrated that the NDT algorithm outperformed the ICP and CSM al-gorithms in terms of velocity measurement accuracy and algorithm robustness. Moreover, the velocity mea-surement results obtained from the NDT algorithm were closer to the actual track speed, with a maximum velocity deviation of lesser than 0.021 m/s compared to the actual guideway speed.