Name
Title | ||
|---|---|---|
DEVELOPING AND VALIDATING A PREDICTIVE MODEL OF MEASUREMENT UNCERTAINTY FOR MULTI-BEAM LIDARS: APPLICATION TO THE VELODYNE VLP-16 |
Abstract | ||
|---|---|---|
A key feature for multi-sensor fusion is the ability to associate, to each measured value, an estimate of its uncertainty. We aim at developing a point-to-pixel association based on UAV-borne LiDAR point cloud and conventional camera data to build digital elevation models where each 3D point is associated to a color. In this paper, we propose a convenient uncertainty prediction model dedicated to multi-beam LiDAR systems with a new consideration on laser diode stack emitted footprints. We supplement this proposition by a novel reference-free evaluation method of this model. This evaluation method aims at validating the LiDAR uncertainty prediction model and estimating its resolving power. It is based on two criteria: one for consistency, the other for specificity. We apply this method to the multi-beam Velodyne VLP-16 LiDAR. The sensor’s prediction model validates the consistency criterion but, as expected, not the specificity criterion. It returns coherently pessimistic prediction with a resolving power upper bounded by 2 cm at a distance of 5 m. |
Year | DOI | Venue |
|---|---|---|
2018 | 10.1109/IPTA.2018.8608146 | IPTA |
Keywords | Field | DocType |
Uncertainty,Laser radar,Predictive models,Measurement by laser beam,Laser modes,Three-dimensional displays,Laser beams | Data mining,Computer vision,Computer science,Consistency criterion,Measurement uncertainty,Digital elevation model,Angular resolution,Lidar,Artificial intelligence,Beam (structure),Point cloud,Bounded function | Conference |
ISSN | ISBN | Citations |
2154-512X | 978-1-5386-6428-5 | 0 |
PageRank | References | Authors |
0.34 | 0 | 4 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Quentin Péntek | 1 | 0 | 0.34 |
| Allouis, T. | 2 | 11 | 1.86 |
| O. Strauss | 3 | 153 | 21.17 |
| Christophe Fiorio | 4 | 197 | 23.27 |