Browse Publications Technical Papers 2010-01-0464
2010-04-12

LiDAR Pose Estimation for Vehicle Safety Systems 2010-01-0464

This paper presents a proof of concept for an algorithm to determine the attitude of a multi-layer laser rangefinder or LiDAR (Light Detection And Ranging) relative to a reference frame given the ability of the LiDAR to make measurements to a planar surface with sufficient and proper excitation. Due to the highly non-linear nature of the problem presented, weighted recursive least squares along with a high order unscented transform are used to obtain a final result which is capable of being extended to vehicle safety systems to provide a measurement of the roll and pitch of a vehicle relative to the road's surface with a high degree of accuracy.

SAE MOBILUS

Subscribers can view annotate, and download all of SAE's content. Learn More »

Access SAE MOBILUS »

Members save up to 18% off list price.
Login to see discount.
Special Offer: Download multiple Technical Papers each year? TechSelect is a cost-effective subscription option to select and download 12-100 full-text Technical Papers per year. Find more information here.
We also recommend:
TECHNICAL PAPER

White Road Line Recognition Using Lane Region Extraction and Line Edge Detection

981167

View Details

TECHNICAL PAPER

COMPARATIVE ANALYSIS OF CRASH SENSORS

720035

View Details

TECHNICAL PAPER

Detection of Potholes and Speedbumps by Monitoring Front Traffic

2019-01-5031

View Details

X