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This summary is machine-generated.

This study investigates using mirrors to expand the field of view (FOV) of lidar systems for robotics. While effective, redirecting lidar beams with mirrors introduces minor measurement errors, impacting safety applications.

Keywords:
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Area of Science:

  • Robotics and Automation
  • Optical Sensing Technologies

Background:

  • Centralized lidar systems offer robust sensing but have limited fields of view (FOVs).
  • Expanding lidar FOVs is crucial for enhancing safety applications in robotics and autonomous systems.

Purpose of the Study:

  • To explore the feasibility of distributing lidar FOVs using fixed mirrors.
  • To evaluate the impact of mirror-based FOV redirection on measurement accuracy.

Main Methods:

  • Development of a custom modular lidar system with time-over-threshold (TOT) error compensation.
  • Inclusion of analogue front end (AFE) boards with transmitters, receivers, and time-to-digital converters (TDCs).
  • Comparative analysis of lidar performance with direct line-of-sight versus mirror-redirected FOV configurations.

Main Results:

  • The custom lidar system effectively demonstrated FOV distribution using fixed mirrors.
  • Redirecting the light path through mirrors introduced a minor but detectable measurement error.
  • The error was observed within a specific portion of the measurement range.

Conclusions:

  • Fixed mirrors can distribute lidar fields of view, offering potential for expanded robotic sensing.
  • The introduced measurement error necessitates careful consideration for high-accuracy safety-critical applications.
  • Further research may be needed to mitigate mirror-induced errors in distributed lidar systems.