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Title: Point Pattern Estimators for Multi-Beam Lidar Scans
In this work, point pattern estimators are used to analyze the distribution of measurements from a multi-beam Lidar on a pitching platform. Multi-beam Lidars have high resolution in the horizontal plane, but poor vertical resolution. Placing the Lidar on a pitching base improves this resolution, but causes the distribution of measurements to be highly irregular. In this work, these measurement distributions are treated as point patterns and three estimators are used to quantity how measurements are spaced, which has implications in robotic detection of objects using Lidar sensors. These estimators are used to demonstrate how a pitching trajectory for the platform can be chosen to improve multiple performance criteria, such as increasing the likelihood of detection of an object, or adjusting how closely measurements should be spaced.  more » « less
Award ID(s):
1658696
NSF-PAR ID:
10443530
Author(s) / Creator(s):
; ;
Date Published:
Journal Name:
2020 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
Page Range / eLocation ID:
335 to 340
Format(s):
Medium: X
Sponsoring Org:
National Science Foundation
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