Basic Experiment of LIDAR Sensor Measurement Directional Instability for Moving and Vibrating Object

In the present paper, a basic study of LIDAR sensor measurement data directional instability for moving straight object such as wall and vibrating object such as human or trees trembling by wind was confirmed. To realize autonomous car control without human, the correct current position estimation (localization) is an important factor, and it would be measured by LIDAR device generally. Since the LIDAR sensor used time of flight information of laser to measure the distance from the target, the micro or nano second order time difference would be disturbed by a few physical factors - sensor movement / vibration, target shape complexity and target movement / vibration. Especially, if the LIDAR was used for object recognition, it is necessary to know what kind of environment. Object and movement factors disturb the sensor signal. By using a developed artificial tree that was influenced by the wind and moving stand attached the LIDAR, the effect of the sensor self position movement and the object shape vibration were measured in this paper. The experimental result of 0.4×0.2 m straight shape board movement shows that there are large directional dependencies of moving straight shape board about the rotation angle estimating process by using ICP algorithm. In addition, the experimental result of 0.4×0.2 m artificial tree attached 40×200 mm green ribbon shows that the estimated rotation angle was continuously departing from the true value (zero degree) especially in few minutes experiment. Our experimental result shows that there is a weak direction to move the LIDAR sensor itself and it is hard process to estimate the rotation angle by ICP when the object is vibrating or moving.