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Andreas Kapp, Lutz Gröll

Motion-Scan Effect

Keywords: parameter estimation, lidar scanner, optimal estimation, identifiability, relativ motion

The scanning process of lidar scanners is extended over time. Hence, relative motion between sensor and object during the scanning leads to a motion-dependent blur, here called motion-scan effect . Due to this effect the lidar´s distance map is deteriorated which has a negative impact on the subsequent signal processing. This article quantifies and analyzes this effect and compensates for it. Thus the accuracy and the control mode can be improved which is particularly important for safety-critical applications of autonomous vehicles.

at – Automatisierungstechnik, Oldenbourg Wissenschaftsverlag

Print ISSN: 0178-2312
Volume: 54, 11/2006
Pages: 546 - 555

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