Light detection and ranging (lidar) sensors are essential for state-of-the-art 3D perception for automated driving applications, as recent developments in the field have shown. To mitigate the risk of an unreliable object localization due to a distorted point cloud, high-precision intrinsic calibration is an important prerequisite to produce lidar sensors of high reliability. For large-scale series production, the factory calibration setup is required to be both space- and time-efficient. In this paper, we present a method for angular calibration that employs a two-dimensional calibration pattern as the core of our tabletop setup. To accelerate the calibration procedure, we perform a continuous measurement of the entire field of view without accumulation over several images or sub-resolution sampling. In our evaluation, we utilize two different calibration patterns, where we extract their center point using image processing techniques. The parameter describing the precision, is the standard deviation of the pattern’s center point over a sequence of images. This is the key criterion for determining the overall measurement uncertainty of our method and selecting the optimal pattern to realize a time-efficient intrinsic calibration on the subpixel level.
Recent development in the field of advanced driver assistant system (ADAS) has shown that Light Detection and Ranging (lidar) sensors are essential for 3D object detection. One of the key parameters of automotive lidar is the maximum detection range, which is dependent on background light as well as the lidar signal itself. To make lidar sensors widely accessible for the automotive market, high-volume series production becomes a necessity. Since today's sensors have a maximum detection range far beyond a hundred meters it is neither economically nor logistically viable to build a long-range setup for series production. In this work we will present a table-top setup with a length no longer than one meter, directly measuring the maximum detection range of a lidar sensor - with similar precision (about two meters for one sigma) compared to the long-range distance measurement. This setup can be used to verify the maximum detection range and execute other complementary tests like beam quality and straylight simultaneously. This is particularly important considering the cycle time restriction in series production of the automotive lidar. Our setup mainly consists of a triggerable laser and a background light source. Using the fact that the intensity of the back-scattered light is inversely proportional to the distance squared, it is possible to imitate a far-away object by tuning a laser to a reduced intensity.
Access to the requested content is limited to institutions that have purchased or subscribe to SPIE eBooks.
You are receiving this notice because your organization may not have SPIE eBooks access.*
*Shibboleth/Open Athens users─please
sign in
to access your institution's subscriptions.
To obtain this item, you may purchase the complete book in print or electronic format on
SPIE.org.
INSTITUTIONAL Select your institution to access the SPIE Digital Library.
PERSONAL Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.