A Rigorous Observation Model for the Risley Prism-Based Livox Mid-40 Lidar Sensor

Area of Science:

• Robotics and Autonomous Systems
• Geomatics Engineering
• Sensor Technology

Background:

• Lidar sensors are crucial for autonomous systems, with increasing demand for high-accuracy data.
• The Livox Mid-40 lidar is used in autonomous vehicles and aerial mapping.
• Characterizing lidar point cloud quality requires a rigorous sensor observation model.

Purpose of the Study:

• Develop an angular observation model for the Livox Mid-40 lidar sensor.
• Enable sensor calibration and rigorous analysis of its performance.
• Investigate the sensor's systematic errors and optical steering mechanism.

Main Methods:

• Developed an angular observation model for the Mid-40 lidar.
• Applied an extended Kalman filter to estimate model parameters and errors.
• Utilized prism rotation angles in a least-squares adjustment for accuracy improvement.

Main Results:

• The Mid-40's angular observations are more accurate than manufacturer specifications.
• The developed model accurately estimates sensor parameters and systematic errors.
• Prism rotation angles can theoretically enhance angular observation accuracy.

Conclusions:

• The proposed angular observation model provides a rigorous characterization of the Livox Mid-40 lidar.
• The model enables improved sensor calibration and performance assessment.
• Findings suggest potential for enhanced accuracy in lidar-based applications.