Publicação
Polarimetric LiDAR for target characterization aiming at autonomous driving implementations
| Resumo: | LiDAR is an active sensor, used to measure distances. By illuminating obstacles and measuring retro-reflected light, LiDAR is able to measure the distance to a particular obstacle, as well as predict the shape of that obstacle. In autonomous driving, the high precision and accuracy of LIDAR is an enormous asset for decision making and safety. The fact that it is a fundamental technology for autonomous driving means that large companies are allocating resources (monetary and intellectual) to their development. The project in which this dissertation is inserted aims to use the concept of polarization of light in the LIDAR system, in order to allow the classification of targets and help their recognition. In the course of this work, different Mueller Polarimeters were built to consider and evaluate the importance and usefulness of polarization in the classification of materials. Two of the setups were developed, with a 1550 nm wavelength laser, in the facilities of the School of Sciences of the University of Minho, being different by using distinct polarimetric components to generate and analyse states of polarization: quarter wave plates or liquid crystals variable retarder and linear polarizers . The two 1550 nm setups and the obtained polarimetric information are described in this document. The work presented here also involved the construction of a fourth setup: a LIDAR demonstrator, whose objective was not only to measure distances with high precision and accuracy, but also to introduce polarimetric components and to recognize the importance of using polarization in the differentiation of materials. The results obtained in this work allow us to conclude that polarization at 1550 nm of wavelength has very significant importance in the classification and recognition of road scene objects. Moreover, a Polarization 1D LiDAR at a 1550nm is capable of distinguishing between at least some relevant materials of great importance in autonomous vehicle safety. Therefore, it is proposed to continue this path of work on polarization in LIDAR systems, in order to increase the capabilities of recognizing the environment, in the context of autonomous driving. |
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| Autores principais: | Fernandes, Pedro Francisco Santos Braga |
| Assunto: | Autonomous driving LiDAR Mueller matrix Mueller polarimeter Material classification Polarization Polarization LiDAR Stokes vector Condução autónoma LIDAR de polarização Classificação de materiais Matriz de Mueller Polarímetro de Mueller Polarização Vetor de Stokes Ciências Naturais::Ciências Físicas |
| Ano: | 2020 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso restrito |
| Instituição associada: | Universidade do Minho |
| Idioma: | inglês |
| Origem: | RepositóriUM - Universidade do Minho |
| Resumo: | LiDAR is an active sensor, used to measure distances. By illuminating obstacles and measuring retro-reflected light, LiDAR is able to measure the distance to a particular obstacle, as well as predict the shape of that obstacle. In autonomous driving, the high precision and accuracy of LIDAR is an enormous asset for decision making and safety. The fact that it is a fundamental technology for autonomous driving means that large companies are allocating resources (monetary and intellectual) to their development. The project in which this dissertation is inserted aims to use the concept of polarization of light in the LIDAR system, in order to allow the classification of targets and help their recognition. In the course of this work, different Mueller Polarimeters were built to consider and evaluate the importance and usefulness of polarization in the classification of materials. Two of the setups were developed, with a 1550 nm wavelength laser, in the facilities of the School of Sciences of the University of Minho, being different by using distinct polarimetric components to generate and analyse states of polarization: quarter wave plates or liquid crystals variable retarder and linear polarizers . The two 1550 nm setups and the obtained polarimetric information are described in this document. The work presented here also involved the construction of a fourth setup: a LIDAR demonstrator, whose objective was not only to measure distances with high precision and accuracy, but also to introduce polarimetric components and to recognize the importance of using polarization in the differentiation of materials. The results obtained in this work allow us to conclude that polarization at 1550 nm of wavelength has very significant importance in the classification and recognition of road scene objects. Moreover, a Polarization 1D LiDAR at a 1550nm is capable of distinguishing between at least some relevant materials of great importance in autonomous vehicle safety. Therefore, it is proposed to continue this path of work on polarization in LIDAR systems, in order to increase the capabilities of recognizing the environment, in the context of autonomous driving. |
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Atividades financiadas
Não foram encontrados projetos financiados.