Characterizing Lidar Range-Measurement Ambiguity due to Multiple Returns
Reliable position and attitude sensing is critical for highly automated vehicles that operate on conventional roadways. Lidar sensors are increasingly incorporated into pose-estimation systems. Despite its great utility, lidar is a complex sensor, and its performance in roadway environments is not yet well understood. For instance, it is often assumed in lidar-localization algorithms that a lidar will always identify a unique surface along a given raypath. However, this assumption is not always true, as ample prior evidence exists to suggest that lidar units may generate measurements probabilistically when more than one scattering surface appears within the lidar's conical beam. In this p...
| Authors | Jason H. Rife, Yifan Li |
|---|---|
| Primary category | cs.RO |
| Published | 10 April 2026 |
| Last updated at source | 10 April 2026 |
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