A generic multi-lidar data batching strategy on the sensor driver level
This paper addresses how to utilize multiple spinning lidar sensors for real-time applications. Especially how to derive back the problem to having only a single lidar input, to which there are countless available algorithms solving odometry, mapping, object detection and tracking and many other tas...
Saved in:
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2025-06-01
|
| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-1-W4-2025/37/2025/isprs-archives-XLVIII-1-W4-2025-37-2025.pdf |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1849421788541353984 |
|---|---|
| author | T. Faitli H. Hyyti J. Hyyppä A. Kukko H. Kaartinen |
| author_facet | T. Faitli H. Hyyti J. Hyyppä A. Kukko H. Kaartinen |
| author_sort | T. Faitli |
| collection | DOAJ |
| description | This paper addresses how to utilize multiple spinning lidar sensors for real-time applications. Especially how to derive back the problem to having only a single lidar input, to which there are countless available algorithms solving odometry, mapping, object detection and tracking and many other tasks. We provide a strategy that can be implemented to most if not all spinning lidars on the market. Instead of traditional data batching that accumulates data packets based on the spinning angle, we propose batching based on the sampling time, which also enable us to ensure strict time alignment within the multiple lidar sources. In order to demonstrate our batching strategy, we provide a case study where we evaluated a SLAM algorithm with a single and a dual-lidar setup. Our batching algorithm enabled us to use the SLAM algorithm that was previously designed for a single spinning lidar without any additional change, while it showcased benefits, especially in stability due to the larger field of view and reduced occlusion. |
| format | Article |
| id | doaj-art-01bfb5135d29476188f5b66a48d6a009 |
| institution | Kabale University |
| issn | 1682-1750 2194-9034 |
| language | English |
| publishDate | 2025-06-01 |
| publisher | Copernicus Publications |
| record_format | Article |
| series | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| spelling | doaj-art-01bfb5135d29476188f5b66a48d6a0092025-08-20T03:31:23ZengCopernicus PublicationsThe International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences1682-17502194-90342025-06-01XLVIII-1-W4-2025374210.5194/isprs-archives-XLVIII-1-W4-2025-37-2025A generic multi-lidar data batching strategy on the sensor driver levelT. Faitli0H. Hyyti1J. Hyyppä2A. Kukko3H. Kaartinen4Dept. of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, FI-02150 Espoo, FinlandDept. of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, FI-02150 Espoo, FinlandDept. of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, FI-02150 Espoo, FinlandDept. of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, FI-02150 Espoo, FinlandDept. of Remote Sensing and Photogrammetry, Finnish Geospatial Research Institute, FI-02150 Espoo, FinlandThis paper addresses how to utilize multiple spinning lidar sensors for real-time applications. Especially how to derive back the problem to having only a single lidar input, to which there are countless available algorithms solving odometry, mapping, object detection and tracking and many other tasks. We provide a strategy that can be implemented to most if not all spinning lidars on the market. Instead of traditional data batching that accumulates data packets based on the spinning angle, we propose batching based on the sampling time, which also enable us to ensure strict time alignment within the multiple lidar sources. In order to demonstrate our batching strategy, we provide a case study where we evaluated a SLAM algorithm with a single and a dual-lidar setup. Our batching algorithm enabled us to use the SLAM algorithm that was previously designed for a single spinning lidar without any additional change, while it showcased benefits, especially in stability due to the larger field of view and reduced occlusion.https://isprs-archives.copernicus.org/articles/XLVIII-1-W4-2025/37/2025/isprs-archives-XLVIII-1-W4-2025-37-2025.pdf |
| spellingShingle | T. Faitli H. Hyyti J. Hyyppä A. Kukko H. Kaartinen A generic multi-lidar data batching strategy on the sensor driver level The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| title | A generic multi-lidar data batching strategy on the sensor driver level |
| title_full | A generic multi-lidar data batching strategy on the sensor driver level |
| title_fullStr | A generic multi-lidar data batching strategy on the sensor driver level |
| title_full_unstemmed | A generic multi-lidar data batching strategy on the sensor driver level |
| title_short | A generic multi-lidar data batching strategy on the sensor driver level |
| title_sort | generic multi lidar data batching strategy on the sensor driver level |
| url | https://isprs-archives.copernicus.org/articles/XLVIII-1-W4-2025/37/2025/isprs-archives-XLVIII-1-W4-2025-37-2025.pdf |
| work_keys_str_mv | AT tfaitli agenericmultilidardatabatchingstrategyonthesensordriverlevel AT hhyyti agenericmultilidardatabatchingstrategyonthesensordriverlevel AT jhyyppa agenericmultilidardatabatchingstrategyonthesensordriverlevel AT akukko agenericmultilidardatabatchingstrategyonthesensordriverlevel AT hkaartinen agenericmultilidardatabatchingstrategyonthesensordriverlevel AT tfaitli genericmultilidardatabatchingstrategyonthesensordriverlevel AT hhyyti genericmultilidardatabatchingstrategyonthesensordriverlevel AT jhyyppa genericmultilidardatabatchingstrategyonthesensordriverlevel AT akukko genericmultilidardatabatchingstrategyonthesensordriverlevel AT hkaartinen genericmultilidardatabatchingstrategyonthesensordriverlevel |