All sensors tested in this study were off-the-shelf production models with the exception of the Velodyne VLS-128. This sensor was a pre-production model, and was tested to provide a preview for the production 128-line Alpha Prime sensor which was unavailable at the time the experiments were carried out. The dataset will be extended with the Alpha Prime results when testing has been completed.
All these sensors correspond to the multi-beam (multi-channel) mechanical scanning type: several pairs of laser diodes and photo-detectors (avalanche photo detector (APD) and single-photon avalanche diode (SPAD)) and corresponding emit-remit optics and mirrors, are rotated by a motor for 360 degrees which defines azimuth, while the vertical angle of a laser and photo-detector pair defines elevation. All sensors in this selection have short-wave infrared (SWIR) wavelengths between 850nm, 903nm and 905nm. While some support multiple returns (echoes), the data collected in our dataset always records only the strongest echo.
Range RSME on frontal (x) axis distance per LiDAR
Expected density obtained from simulation, using each LiDAR's HRes, VRes and VFOV, to find the number of points falling inside the reflector targets at each range.
Actual (measured) density detected on the reflective targets, averaged over 40 frames.
Don't miss our recent publications derived from LIBRE:
@article{acarballo2020libre,
title={{LIBRE}: The Multiple 3D LiDAR Dataset},
author={Alexander Carballo and Jacob Lambert and Abraham Monrroy and David Wong and Patiphon Narksri and Yuki Kitsukawa and Eijiro Takeuchi and Shinpei Kato and Kazuya Takeda},
journal={arXiv preprint arXiv:2003.06129},
year={2020},
note="(accepted for presentation at IV2020)"
}
@article{acarballo2020characterization,
title={Characterization of Multiple 3D LiDARs for Localization and Mapping using Normal Distributions Transform},
author={Alexander Carballo, Abraham Monrroy, David Wong, Patiphon Narksri, Jacob Lambert, Yuki Kitsukawa, Eijiro Takeuchi, Shinpei Kato, Kazuya Takeda},
journal={arXiv preprint arXiv:2004.01374},
year={2020}
}
libre-dataset-inquires [at] g [dot] sp [dot] m [dot] is [dot] nagoya-u [dot] ac [dot] jp