Laser and Radar Based Robotic Perception
Foundations and Trends in Robotics
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When processing laser detection and ranging (LADAR) sensor data for scene interpretation, for example, for the purposes of feature extraction and/or data association in mobile robotics, most previous work models such devices as processing range data which follows a normal distribution. In this paper, it is demonstrated that commonly used LADARs suffer from incorrect range readings at changes in surface reflectivity and/or range discontinuities, which can have a much more detrimental effect on such algorithms than random noise. Most LADARs fall into two categories: coaxial and separated transmitter and receiver configurations. The latter offer the advantage that optical crosstalk is eliminated, since it can be guaranteed that all of the transmitted light leaves the LADAR and is not in any way partially reflected within it due to the beam-splitting techniques necessary in coaxial LADARs. However, they can introduce a significant disparity effect, as the reflected laser energy from the target can be partially occluded from the receiver. As well as demonstrating that false range values can result due to this occlusion effect from scanned LADARs, the main contribution of this paper is that the occurrence of these values can be reliably predicted by monitoring the received signal strength and a quantity we refer to as the “transceiver separation angle” of the rotating mirror. This paper will demonstrate that a correct understanding of such systematic errors is essential for the correct further processing of the data. A useful design criterion for the optical separation of the receiver and transmitter is also derived for noncoaxial LADARs, based on the minimum detectable signal amplitude of a LADAR and environmental edge constraints. By investigating the effects of various sensor and environmental parameters on occlusion, some advice is given on how to make use of noncoaxial LADARs correctly so as to avoid range errors when scanning environmental discontinuities. © 2005 Wiley Periodicals, Inc.