Risley-prism-based multi-beam scanning LiDAR for high-resolution three-dimensional imaging

•Coherent light detection and ranging architecture for three-dimensional imaging.•Risley-prism-based multi-beam scanning enables high-resolution spatial sampling.•Multi-mode integrated point cloud filtering method for efficient outlier removal.•Coarse-fine coupled alignment strategy for multi-channe...

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Vydáno v:Optics and lasers in engineering Ročník 150; s. 106836
Hlavní autoři: Li, Anhu, Liu, Xingsheng, Sun, Jianfeng, Lu, Zhiyong
Médium: Journal Article
Jazyk:angličtina
Vydáno: Elsevier Ltd 01.03.2022
Témata:
Light detection and ranging
Multi-beam scanning
Point cloud processing
Risley prisms
Three-dimensional information acquisition
Light detection and ranging
Point cloud processing
Multi-beam scanning
Three-dimensional information acquisition
Risley prisms
ISSN:0143-8166, 1873-0302
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Shrnutí:•Coherent light detection and ranging architecture for three-dimensional imaging.•Risley-prism-based multi-beam scanning enables high-resolution spatial sampling.•Multi-mode integrated point cloud filtering method for efficient outlier removal.•Coarse-fine coupled alignment strategy for multi-channel point cloud registration. Light detection and ranging (LiDAR) as a significant approach to three-dimensional perception has increasingly suffered from challenges for compact structure, high resolution and strong adaptability. This paper presents a versatile LiDAR system that incorporates multi-beam scanning using Risley prisms and coherent detection based on triangular frequency modulation. By combining Risley-prism-based multi-beam steering model with simultaneous distance and velocity measurements, the LiDAR architecture for three-dimensional imaging is theoretically demonstrated. A unified LiDAR point cloud processing framework is developed, where the multi-mode integrated filtering method is proposed for outlier removal using point cloud characteristics. The coarse-fine coupled strategy is also formulated to combine statistical modeling with iterative optimization for multi-channel point cloud registration. It is experimentally validated that our LiDAR can achieve high-resolution three-dimensional information acquisition against long range, and the proposed point cloud processing technique can fully reconstruct the spatial form of object while preserving sufficient details.
ISSN:0143-8166
1873-0302
DOI:10.1016/j.optlaseng.2021.106836