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Joint Temperature-Lasing Mode Compensation for Time-of-Flight LiDAR Sensors
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0001-6868-2210
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-4310-7938
Luleå tekniska universitet, Institutionen för system- och rymdteknik, Signaler och system.ORCID-id: 0000-0002-0079-9049
2015 (engelsk)Inngår i: Sensors, ISSN 1424-8220, E-ISSN 1424-8220, Vol. 15, nr 12, s. 31205-31223Artikkel i tidsskrift (Fagfellevurdert) Published
Abstract [en]

We propose an expectation maximization (EM) strategy for improving the precision of time of flight (ToF) light detection and ranging (LiDAR) scanners. The novel algorithm statistically accounts not only for the bias induced by temperature changes in the laser diode, but also for the multi-modality of the measurement noises that is induced by mode-hopping effects. Instrumental to the proposed EM algorithm, we also describe a general thermal dynamics model that can be learned either from just input-output data or from a combination of simple temperature experiments and information from the laser’s datasheet. We test the strategy on a SICK LMS 200 device and improve its average absolute error by a factor of three.

sted, utgiver, år, opplag, sider
2015. Vol. 15, nr 12, s. 31205-31223
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URN: urn:nbn:se:ltu:diva-8300DOI: 10.3390/s151229854ISI: 000367539100089PubMedID: 26690445Scopus ID: 2-s2.0-84949895688Lokal ID: 6cc26a2c-2f62-437e-8238-6536773e8534OAI: oai:DiVA.org:ltu-8300DiVA, id: diva2:981192
Merknad
Validerad; 2016; Nivå 2; 20151211 (alhana)Tilgjengelig fra: 2016-09-29 Laget: 2016-09-29 Sist oppdatert: 2018-07-10bibliografisk kontrollert

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Alhashimi, AnasVaragnolo, DamianoGustafsson, Thomas

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