Temporal behavior and processing of the LiDAR signal in fog

Maria Ballesta-Garcia; Ana Rodríguez-Aramendía; Pablo García-Gómez; Noel Rodrigo; Santiago Royo

doi:10.1117/12.2665060

31 May 2023 Temporal behavior and processing of the LiDAR signal in fog

Maria Ballesta-Garcia, Ana Rodríguez-Aramendía, Pablo García-Gómez, Noel Rodrigo, Santiago Royo

Proceedings Volume 12572, Optical Sensors 2023; 1257213 (2023) https://doi.org/10.1117/12.2665060
Event: SPIE Optics + Optoelectronics, 2023, Prague, Czech Republic

Conference Poster

Abstract

The interest in LiDAR imaging systems has recently increased in outdoor ground-based applications related to computer vision, in fields like autonomous vehicles. However, for the complete settling of the technology, there are still obstacles related to outdoor performance, being its use in adverse weather conditions one of the most challenging. When working in bad weather, data shown in point clouds is unreliable and its temporal behavior is unknown. We have designed, constructed, and tested a scanning-pulsed LiDAR imaging system with outstanding characteristics related to optoelectronic modifications, in particular including digitization capabilities of each of the pulses. The system performance was tested in a macro-scale fog chamber and, using the collected data, two relevant phenomena were identified: the backscattering signal of light that first interacts with the media and false-positive points that appear due to the scattering properties of the media. Digitization of the complete signal can be used to develop algorithms to identify and get rid of them. Our contribution is related to the digitization, analysis, and characterization of the acquired signal when steering to a target under foggy conditions, as well as the proposal of different strategies to improve point clouds generated in these conditions.

Citation Download Citation

Maria Ballesta-Garcia, Ana Rodríguez-Aramendía, Pablo García-Gómez, Noel Rodrigo, and Santiago Royo "Temporal behavior and processing of the LiDAR signal in fog", Proc. SPIE 12572, Optical Sensors 2023, 1257213 (31 May 2023); https://doi.org/10.1117/12.2665060

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