| Popis: |
Laser‐based sensors have been used extensively in robotics and aerospace applications for a variety of tasks, including navigation, collision avoidance, and mapping. This chapter discusses the use of laser‐based sensors in estimating the platform pose, and in some cases, the change of pose over time. It begins with a short overview of laser ranging technologies that can be used for navigation purposes, including various types of scanners and imagers. The chapter defines a laser‐based technology taxonomy based on observables, and addresses two approaches to laser‐based navigation: featureless methods and feature‐based methods. The chapter addresses some general considerations when working with Light Detection and Ranging (LiDAR)‐based navigation systems. A commercial LiDAR system today is capable of millimeter‐ or centimeter‐level ranging accuracy. However, some of the LiDARs may have originally been designed for other purposes, such as object detection. |
