At last year, we have been developing 3D scanning LIDAR designated as KIDAR-B25, which features the 3D scanning
structure based on an optically and mechanically coupled instrument. In contrast with previous scanning LIDARs,
vertical scanning is realized using two stepping motors synchronized with movement and moves in a spiral. From the
results of outdoor experiments conducted last year to evaluate and measure the LIDAR performance and stability, we
identified some limitations and problems that should be resolved. In the first instance, the samples per second are
inefficient for use in detection, object clustering, and classification. In addition, the accuracy and precision of distance at
every point is seriously affected by the reflectance and distance of the target. Therefore, we have focused on improving
the 3D LIDAR range finding performance, speed of measurement, and stability regardless of environmental variation.
Toward the realization of these goals, in this paper, we deal with two improvements compared with previous 3D LIDAR.
KEYWORDS: LIDAR, Sensors, Avalanche photodetectors, 3D image processing, Receivers, Signal processing, Digital signal processing, Robots, Pulsed laser operation, 3D acquisition
The purpose of this research is to develop a new 3D LIDAR sensor, named KIDAR-B25, for measuring 3D image
information with high range accuracy, high speed and compact size. To measure a distance to the target object, we
developed a range measurement unit, which is implemented by the direct Time-Of-Flight (TOF) method using TDC chip,
a pulsed laser transmitter as an illumination source (pulse width: 10 ns, wavelength: 905 nm, repetition rate: 30kHz, peak
power: 20W), and an Si APD receiver, which has high sensitivity and wide bandwidth. Also, we devised a horizontal and
vertical scanning mechanism, climbing in a spiral and coupled with the laser optical path. Besides, control electronics
such as the motor controller, the signal processing unit, the power distributor and so on, are developed and integrated in a
compact assembly.
The key point of the 3D LIDAR design proposed in this paper is to use the compact scanning mechanism, which is
coupled with optical module horizontally and vertically. This KIDAR-B25 has the same beam propagation axis for
emitting pulse laser and receiving reflected one with no optical interference each other.
The scanning performance of the KIDAR-B25 has proven with the stable operation up to 20Hz (vertical), 40Hz
(horizontal) and the time is about 1.7s to reach the maximum speed. The range of vertical plane can be available up to
±10 degree FOV (Field Of View) with a 0.25 degree angular resolution. The whole horizontal plane (360 degree) can be
also available with 0.125 degree angular resolution. Since the
KIDAR-B25 sensor has been planned and developed to be
used in mobile robots for navigation, we conducted an outdoor test for evaluating its performance. The experimental
results show that the captured 3D imaging data can be usefully applicable to the navigation of the robot for detecting and
avoiding the moving objects with real time.
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