Velodyne HDL-64E LIDAR for Unmanned Surface Vehicle Obstacle Detection
SPACE AND NAVAL WARFARE SYSTEMS CENTER SAN DIEGO CA
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The Velodyne HDL-64E is a 64 laser 3D 360x26.8 degree scanning LIDAR. It was designed to fill perception needs of DARPA Urban Challenge vehicles. As such, it was principally intended for ground use. This paper presents the performance of the HDL-64E as it relates to the marine environment for unmanned surface vehicle USV obstacle detection and avoidance. We describe the sensors capacity for discerning relevant objects at sea-both through subjective observations of the raw data and through a rudimentary automated obstacle detection algorithm. We also discuss some of the complications that have arisen with the sensor.
- Optical Detection and Detectors
- Miscellaneous Detection and Detectors