Fig 4 - available via license: Creative Commons Attribution 4.0 International
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Sensor Acquisition Geometry. We represent in a the acquisition of a rotating sensor, which is split into 1 ⁄3 turn slices in b. As the Laser emitters position forms an angle of over 17.3 • around the sensor head, taking slices with respect to the sensor rotation θ results in a jagged profile.
Source publication
Roof-mounted spinning LiDAR sensors are widely used by autonomous vehicles, driving the need for real-time processing of 3D point sequences. However, most LiDAR semantic segmentation datasets and algorithms split these acquisitions into $360^\circ$ frames, leading to acquisition latency that is incompatible with realistic real-time applications and...
Context in source publication
Context 1
... the fibers (i.e. the individual lasers) do not all face the same direction: they are arranged around the sensor's heads at different angles, with a range of more than 17.3 • . This means that the points within a packet are not vertically aligned but present a jagged profile as seen in Figure 4. In order to obtain frames with straight edges such as those of SemanticKITTI [3], we would have to consider an acquisition over a sensor rotation of 377 • , adding a further 5ms of latency. ...
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