Placement Method of Multiple Lidars for Roadside Infrastructure in Urban Environments
Author:
Kim Tae-Hyeong12ORCID, Jo Gi-Hwan2ORCID, Yun Hyeong-Seok12, Yun Kyung-Su1, Park Tae-Hyoung3ORCID
Affiliation:
1. Research and Development Department, Korea Intelligent Automotive Parts Promotion Institute (KIAPI), Daegu 43011, Republic of Korea 2. Department of Control and Robot Engineering, Chungbuk National University, Cheongju 28644, Republic of Korea 3. Department of Intelligent Systems and Robotics, Chungbuk National University, Cheongju 28644, Republic of Korea
Abstract
Sensors on autonomous vehicles have inherent physical constraints. To address these limitations, several studies have been conducted to enhance sensing capabilities by establishing wireless communication between infrastructure and autonomous vehicles. Various sensors are strategically positioned within the road infrastructure, providing essential sensory data to these vehicles. The primary challenge lies in sensor placement, as it necessitates identifying optimal locations that minimize blind spots while maximizing the sensor’s coverage area. Therefore, to solve this problem, a method for positioning multiple sensor systems in road infrastructure is proposed. By introducing a voxel grid, the problem is formulated as an optimization challenge, and a genetic algorithm is employed to find a solution. Experimental findings using lidar sensors are presented to demonstrate the efficacy of this proposed approach.
Funder
Institute of Information & communications Technology Planning & Evaluatio MSIT (Ministry of Science and ICT), Korea
Subject
Electrical and Electronic Engineering,Biochemistry,Instrumentation,Atomic and Molecular Physics, and Optics,Analytical Chemistry
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