Analyzing Infrastructure LiDAR Placement with Realistic LiDAR
- URL: http://arxiv.org/abs/2211.15975v1
- Date: Tue, 29 Nov 2022 07:18:32 GMT
- Title: Analyzing Infrastructure LiDAR Placement with Realistic LiDAR
- Authors: Xinyu Cai, Wentao Jiang, Runsheng Xu, Wenquan Zhao, Jiaqi Ma, Si Liu,
Yikang Li
- Abstract summary: Vehicle-to-Everything(V2X) cooperative perception has attracted increasing attention.
How to find the optimal placement of infrastructure sensors is rarely studied.
We propose a pipeline that can efficiently and effectively find optimal installation positions for infrastructure sensors.
- Score: 14.163886343824064
- License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
- Abstract: Recently, Vehicle-to-Everything(V2X) cooperative perception has attracted
increasing attention. Infrastructure sensors play a critical role in this
research field, however, how to find the optimal placement of infrastructure
sensors is rarely studied. In this paper, we investigate the problem of
infrastructure sensor placement and propose a pipeline that can efficiently and
effectively find optimal installation positions for infrastructure sensors in a
realistic simulated environment. To better simulate and evaluate LiDAR
placement, we establish a Realistic LiDAR Simulation library that can simulate
the unique characteristics of different popular LiDARs and produce
high-fidelity LiDAR point clouds in the CARLA simulator. Through simulating
point cloud data in different LiDAR placements, we can evaluate the perception
accuracy of these placements using multiple detection models. Then, we analyze
the correlation between the point cloud distribution and perception accuracy by
calculating the density and uniformity of regions of interest. Experiments show
that the placement of infrastructure LiDAR can heavily affect the accuracy of
perception. We also analyze the correlation between perception performance in
the region of interest and LiDAR point cloud distribution and validate that
density and uniformity can be indicators of performance.
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