Velodyne HDL-64E lidar for unmanned surface vehicle obstacle detection

Ryan Halterman; Michael Bruch

doi:10.1117/12.850611

7 May 2010 Velodyne HDL-64E lidar for unmanned surface vehicle obstacle detection

Ryan Halterman, Michael Bruch

Proceedings Volume 7692, Unmanned Systems Technology XII; 76920D (2010) https://doi.org/10.1117/12.850611
Event: SPIE Defense, Security, and Sensing, 2010, Orlando, Florida, United States

Abstract

The Velodyne HDL-64E is a 64 laser 3D (360×26.8 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 sensor's 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.

Citation Download Citation

Ryan Halterman and Michael Bruch "Velodyne HDL-64E lidar for unmanned surface vehicle obstacle detection", Proc. SPIE 7692, Unmanned Systems Technology XII, 76920D (7 May 2010); https://doi.org/10.1117/12.850611

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