Design of an Adaptive Lightweight LiDAR to Decouple Robot-Camera Geometry

• Published in: IEEE transactions on robotics Vol. 40; pp. 2254 - 2271
• Main Authors: Chen, Yuyang, Wang, Dingkang, Thomas, Lenworth, Dantu, Karthik, Koppal, Sanjeev J.
• Format: Journal Article
• Language: English
• Published: New York IEEE 2024; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Active perception; Cameras; Field of view; Hardware; Image stabilizers; Inertial platforms; Laser radar; Lidar; Micro air vehicles (MAV); Micromechanical devices; Microrobots; Motion compensation; Odometers; Perception; Robot dynamics; Robot sensing systems; robot vision systems; Robots; Sensors; Simultaneous localization and mapping; Stabilization; Unmanned aerial vehicles; Vibration; vision sensors; Wind effects
• ISSN: 1552-3098; 1941-0468
• DOI: 10.1109/TRO.2024.3371885

A fundamental challenge in robot perception is the coupling of the sensor pose and robot pose. This has led to research in active vision where the robot pose is changed to reorient the sensor to areas of interest for perception. Furthermore, egomotion, such as jitter, and external effects, such as w...