Modular lidar system for multiple field-of-view ranging

Pogačnik, Luka (author), Munih, Marko (author)

This paper explores the possibility of distributing the fields of view (FOVs) of a centralized lidar cluster using fixed mirrors for future use in safety applications in robotics and elsewhere. A custom modular lidar system with time-over-threshold (TOT) walk error compensation was developed for the experiments. It comprises a control board that provides the processing power and adjustable voltage regulation, and multiple individually addressable analogue front end (AFE) boards that each contain a transmitter, a receiver, time-to-digital (TDC) converters for pulse width measurements on the bot Tx and Rx side, and adjustable reference voltage generators for both the Tx and Rx pulse detection threshold. The lidar system’s performance with a target in the direct line of sight is compared to the configurations where the FOV is redirected with up to three mirrors in different configurations. The results show that the light path through the neighboring mirrors introduces a minor but noticeable measurement error on a portion of the measurement range.

• Language: English
• Keywords: lidar, FOV, redirecting, mirrors, modular walk error, time-over-threshold
• Work type: Article
• Typology: 1.01 - Original Scientific Article
• Organization: FE - Faculty of Electrical Engineering
• Publication status: Published
• Publication version: Version of Record
• Year: 2024
• Number of pages: 16 str.
• Numbering: Vol. 24, issue 1, art. 84
• PID: 20.500.12556/RUL-179417
• UDC: 621.317
• ISSN on article: 1424-8220
• DOI: 10.3390/s24010084
• COBISS.SI-ID: 181119747
• Publication date in RUL: 13.02.2026

Record is a part of a journal

• Title: Sensors
• Shortened title: Sensors
• Publisher: MDPI
• ISSN: 1424-8220
• COBISS.SI-ID: 10176278

Licences

• License: CC BY 4.0, Creative Commons Attribution 4.0 International
• Link: http://creativecommons.org/licenses/by/4.0/
• Description: This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.

Secondary language

• Language: Slovenian
• Keywords: lidar, vidno polje, preusmeritve, zrcala, hod meritve, čas nad pragovno vrednostjo

Projects

• Funder: ARIS - Slovenian Research and Innovation Agency
• Project number: P2-0228
• Name: Analiza in sinteza gibanja pri človeku in stroju