[SP] Lidar on Gimbal emulator

[datahaki]

Background

The Velodyne lidar returns measurements in polar coordinates with respect to the sensor frame. A gyroscope provides an estimation of the relative rotational rate of the gokart at 1000[Hz]. The localization algorithms provides absolute orientation at 20[Hz].

Motivation

When the gokart is moving, several applications require the measurements in world coordinates:

• localization
• obstacle mapping
• pedestrian tracking

Task Description

Correct the polar coordinates to be in world frame (0 is always “North”).

Example: In rapid maneuvers, the rotational rate of the gokart has peaks of up to ~180[deg]. Because the velodyne lidar is mounted rigidly on the gokart, the rotation of the vehicle affects the interal rotation of the sensor and is approximately superimposed. Unless accounted for, straight walls in the environment appear curved in the scan (see below)