Velodyne HDL-64E LIDAR for Unmanned Surface Vehicle Obstacle Detection

Abstract

The Velodyne HDL-64E is a 64 laser 3D (360x26.8 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.

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Document Details

Document Type
Technical Report
Publication Date
Apr 01, 2010
Accession Number
ADA522822

Entities

People

  • Michael Bruch
  • Ryan Halterman

Organizations

  • Naval Information Warfare Systems Command

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Calibration
  • Collision Avoidance
  • Corner Reflectors
  • Environment
  • Errors
  • Information Operations
  • Mechanical Jamming
  • Navigation
  • Physical Properties
  • Three Dimensional
  • Unmanned Surface Vehicles
  • Unmanned Systems
  • Unmanned Vehicles
  • Vehicles

Readers

  • Computer Vision.
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Directed Energy