Research on LiDAR
3D-Object Detection
1. 산업현장 위험구역 인체 출입 탐지 및 추적
RGB 카메라 사용이 불가한 산업현장의 위험구역에 출입하는 인체를 탐지 및 추적
2. 3-D 물체인식 성능 향상을 위한 저해상도 라이다 업샘플링
저해상도 3-D 라이다의 3차원 물체인식 성능 향상을 위한 라이다 업샘플링 기법 연구
- You, Jihwan, and Young-Keun Kim. “Up-Sampling Method for Low-Resolution LiDAR Point Cloud to Enhance 3D Object Detection in an Autonomous Driving Environment.” Sensors 23.1 (2023): 322.
LiDAR Extrinsic Calibration
Accurate Alignment Inspection System for Low-Resolution Automotive LiDAR
라이다-자동차 장착오차 자동 검사 시스템 개발
We have developed an automatic and accurate inspection system for LiDAR alignment for application in the automobile industry.
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues.
The proposed methods estimate the orientations and the horizontal position of the LiDAR attachment with sub-degree and millimeter level accuracy.
The high accuracy and simplicity of the proposed system make it practical for large-scale industrial applications such as automobile manufacturing process that inspects the sensor attachment for the safety quality control.
1. 1D-Planar Target based LiDAR Alignment Inspection
- It is a static method for the stationary target board and vehicle during the inspection.
- Also, it only requires one pose of the target board and does not utilize other sensors, such as a camera or GPS.
- The experimental results for a low-resolution 16 channel LiDAR (Velodyne VLP-16) confirmed that misalignment could be estimated with accuracy within 0.2 degrees and 4 mm.
Citation
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Oh, Seontaek, Ji-Hwan You, Azim Eskandarian, and Young-Keun Kim. “Accurate Alignment Inspection System for Low-Resolution Automotive LiDAR.” IEEE Sensors Journal 21, no. 10 (2021): 11961-11968.
2. 1-D Photodetector Arrays based LiDAR Alignment Inspection
- LiDAR extrinsic calibration using a target board with embedded photodetector arrays.
- LiDAR sensor pose estimated within 0.1 degree and 3 mm of precision.
- Requires a single target at static pose, applicable to manufacturing automobiles.
Citation
- You, Ji Hwan, Seontaek Oh, Jae Eun Park, Hyeongseok Song, and Young Keun Kim, ‘A Novel LiDAR Sensor Alignment Inspection System for Automobile Productions Using 1-D Photodetector Arrays’, Measurement, 183 (2021), 109817 https://doi.org/10.1016/J.MEASUREMENT.2021.109817
3. Cubic Target based LiDAR Alignment Inspection
- The proposed inspection system is a one-shot and static method that uses only a single cubic-shaped target at a close range of less than 2 m.
- The proposed method with a low-resolution LiDAR (Velodyne VLP-16) resulted in measurement errors of less than 0.04◦ and 1 mm for rotation and translation alignment, respectively.
Citation
Ji-Hwan You, Seontaek Oh, Jae-Eun Park, Hyeongseok Song, Young-Keun Kim, A novel LiDAR sensor alignment inspection system for automobile productions using 1-D photodetector arrays, Measurement, Volume 183,2021,109817, ISSN 0263-2241, https://doi.org/10.1016/j.measurement.2021.109817.
