2D nodding LIDAR for sparse data processing for Simultaneous Shape and Velocity Estimation

A nodding mechanism with mirror assembly is developed to enhance the capabilities of commercially available 2D LIDAR and provide reconfigurability to deal with 3D sparse data. This is a chicken-and-egg problem when available data is sparse.

Key Contributors: Dr. Lindsay Kleeman (Monash Univ.), Mr. Anindya Harchowdhury (PhD 2021)

Selected Publication

  • -Harchowdhury A., Kleeman L. and Vachhani L., "Coordinated Nodding of a 2D Lidar for Dense 3D Range Measurements", Joint publication in IEEE Robotics and Automation Letters, vol. 3, No. 4, pp 4108-4115, Oct,2018 (Impact Factor:3.608) and in Proceedings of IEEE/RSJ International Conference onIntelligent Robots and Systems, Oct, 2018, Madrid, Spain.
  • -Harchowdhury A., Kleeman L. and Vachhani L., "3D Sensing of a Moving Object with a Nodding 2D LIDAR and Reconfigurable Mirrors", Under revision.
  • -Roy T. , Harchowdhury A. and Vachhani L., "Anytime Planning: A Motion Planner for Dynamic Environment", Under prepration.
  • -Harchowdhury A., Vachhani L. and Kleeman L., "Joint Shape and State Estimation of Dynamic Objects using Sparse 3D information", Under preparation

Projects