An Improved Calibration Method for Photonic Mixer Device Solid-State Array Lidars Based on Electrical Analog Delay

Wang, Xuanquan; Song, Ping; Zhang, Wuyang

doi:10.3390/s20247329

Cited by 7 publications

(3 citation statements)

References 44 publications

(67 reference statements)

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“…As GeoSLAM already calibrates the LiDAR’s intrinsic parameters and provides a point cloud for each sequence without raw data, no additional intrinsic calibration (Pandey et al (2010); Huang et al (2020); Glennie and Lichti (2010)) is performed. In order to evaluate the results of SLAM approaches with ground truth trajectories, the extrinsic transformation matrix Tcg from the camera coordinate system to the GeoSLAM coordinate system is required.…”

Section: Calibrationmentioning

confidence: 99%

CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint

Zhang,

An,

Shi

et al. 2023

The International Journal of Robotics Research

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Simultaneous localization and mapping (SLAM) and 3D reconstruction have numerous applications for indoor ground wheeled robots such as floor sweeping and food delivery. To advance research in leveraging semantic information and multi-sensor data to enhance the performances of SLAM and 3D reconstruction in complex indoor scenes, we propose a novel and complex indoor dataset named CID-SIMS, where semantic annotated RGBD images, inertial measurement unit (IMU) measurements, and wheel odometer data are provided from a ground wheeled robot viewpoint. The dataset consists of 22 challenging sequences captured in nine different scenes including office building and apartment environments. Notably, our dataset achieves two significant breakthroughs. Firstly, semantic information and multi-sensor data are provided meanwhile for the first time. Secondly, GeoSLAM is utilized for the first time to generate ground truth trajectories and 3D point clouds within two-centimeter accuracy. With spatial-temporal synchronous ground truth trajectories and 3D point clouds, our dataset is capable of evaluating SLAM and 3D reconstruction algorithms in a unified global coordinate system. We evaluate state-of-the-art SLAM and 3D reconstruction approaches on our dataset, demonstrating that our benchmark is applicable. The dataset is publicly available on https://cid-sims.github.io .

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Section: Calibrationmentioning

confidence: 99%

CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint

Zhang,

An,

Shi

et al. 2023

The International Journal of Robotics Research

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show abstract

“…6. 25 The results of 4 out of 11 iterations of the EM algorithm, when the "Selene" module is used and the LED module is in the middle. .…”

Section: 22mentioning

confidence: 99%

“…Increasing or decreasing the integration time can have an effect on the Signal-to-Noise Ratio (SNR). Shorter integration times result in missing information due to insufficient SNR and longer integration times result in saturation, so a reasonable integration time is especially important to obtain a reliable depth measurement [25].…”

Section: Integration Timementioning

confidence: 99%

Visible Light Positioning Using Arrays of Time-of- Flight Pixels

2022

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With the development of the economy and modern technology, location information has become more and more critical in recent years. Global Positioning System (GPS) has become an essential tool for outdoor positioning, navigation, and path planning, but GPS cannot be applied to indoor scenarios due to the blockage by buildings. In the context of "Industry 4.0" , the traditional industrial model is replaced by intelligent manufacturing. For example, a smart warehouse facilitates the optimization of transport routes, the full utilization of storage space, and advance planning. The high efficiency and low scrap rate of smart production lines also attract more industries to transform. Location information plays a crucial role in information exchange. Indoor positioning based on Bluetooth, Radio Frequency Identification (RFID), and other technologies is difficult to be widely used because of high cost, low positioning accuracy, and potential interference. As traditional incandescent lamps are gradually replaced by Light-Emitting Diodes (LEDs), LED-based Visible Light Positioning (VLP) has become an increasingly attractive alternative for indoor positioning. Additionally, NIR emitters of high-speed LiFi links can also be exploited for NIR Optical Wireless Positioning (OWP). So far, receivers in VLP systems can be divided into two categories: one is the photodiode (PD), and the other are the Image Sensors (ISs), which sample in the temporal and spatial domains, respectively.With the development of digital imaging technology, cameras have been studied as the sensor of choice in a wide range of applications. With the application of Time-of-Flight (ToF) cameras in a wide variety of products, ToF cameras are also becoming widely spread. ToF camera modules generate an illumination control signal, which is used to drive a fast light source, so that it emits high-frequency amplitude-modulated near-infrared light. After the light is scattered by the scene objects, the receiver calculates the depth information by the phase shift or time difference between transmitted and received signals.ToF cameras can provide both temporal and spatial resolution in a single sensor, thus posing a superior alternative to either PD or IS. The use of ToF cameras has attracted increasing attention in VLP systems. Provided that external LEDs or Vertical Cavity Surface Emitting Lasers (VCSELs) are used as signal sources, so the illumination control system of ToF cameras is no longer required. We have demonstrated by a mathematical model that the intensity pattern of LED in the amplitude image approximately follows a Gaussian distribution. Therefore, the coordinates of the LED center point can be obtained using Maximum Likelihood Estimation (MLE) or Expectation-Maximization (EM) estimation for the amplitude image, and thus the distance information of the corresponding point can be found from the depth image.We have successfully simulated indoor positioning using the Angle Of Arrival (AOA) algorithm leveraging knowledge of the lens normals of the ToF cam...

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Synthesizing silicon integrated focal plane plasmonic switch array for beam steering sensors

Selvakumar

Venkatalakshmi²

2022

Opt Quant Electron

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An Improved Calibration Method for Photonic Mixer Device Solid-State Array Lidars Based on Electrical Analog Delay

Cited by 7 publications

References 44 publications

CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint

CID-SIMS: Complex indoor dataset with semantic information and multi-sensor data from a ground wheeled robot viewpoint

Visible Light Positioning Using Arrays of Time-of- Flight Pixels

Synthesizing silicon integrated focal plane plasmonic switch array for beam steering sensors

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