LiDAR Technology for Intelligent Transportation and Autonomous Systems
暫譯: 智慧交通與自動系統的LiDAR技術
Pachamuthu, Rajalakshmi, Anand, Bhaskar, Thakur, Abhishek
商品描述
This book explores the critical role of LiDAR technology in autonomous navigation and advanced driver assistance systems (ADAS). It explores the fundamental principles of LiDAR, comparing it with other sensor technologies like radar and cameras while examining the various types of LiDAR systems, including time-of-flight, flash, and frequency-modulated continuous wave systems. It emphasises real-world use cases, including setting up LiDAR data acquisition systems and addressing challenges like sensor calibration, alignment, and integration into autonomous systems.
- Discusses in detail LiDAR's working principles, laser pulse wavelengths, point cloud data, motion compensation, and datasets commonly used in LiDAR research
- Examines the effects of ambient light, adverse weather conditions (rain, fog, snow), and practical strategies for mitigating these challenges
- Describes advanced methods for object detection, segmentation, and multi-object tracking using LiDAR point clouds, including solutions like AnchorPoint and Smart3DMOT
- Presents techniques for creating high-definition 3D maps and implementing SLAM (Simultaneous Localization and Mapping) that are essential for autonomous navigation
- Offers practical insights into autonomous navigation, including LiDAR-based localization, path planning, obstacle avoidance, and real-world case studies like autonomous shuttles
- Explores multi-LiDAR calibration, emphasizing alignment, fusion, and synchronization to enhance coverage and reduce blind spots in autonomous systems.
- Offers a detailed guide on open-source LiDAR processing tools like PCL, Open3D, and ROS for data handling and visualization.
By combining theoretical principles with practical applications and case studies, this book serves as a reference book for academics and researchers in computer science, electronics, communication engineering, and autonomous technologies.
商品描述(中文翻譯)
這本書探討了LiDAR技術在自動導航和先進駕駛輔助系統（ADAS）中的關鍵角色。它探討了LiDAR的基本原理，並將其與其他傳感器技術（如雷達和攝像頭）進行比較，同時檢視各種LiDAR系統，包括飛行時間、閃光和頻率調變連續波系統。書中強調了實際應用案例，包括設置LiDAR數據採集系統以及解決傳感器校準、對準和整合到自動系統中的挑戰。
- 詳細討論LiDAR的工作原理、激光脈衝波長、點雲數據、運動補償以及在LiDAR研究中常用的數據集
- 檢視環境光、惡劣天氣條件（如雨、霧、雪）的影響，以及減輕這些挑戰的實用策略
- 描述使用LiDAR點雲進行物體檢測、分割和多物體追蹤的先進方法，包括AnchorPoint和Smart3DMOT等解決方案
- 提出創建高清3D地圖和實施SLAM（同步定位與地圖構建）技術的技巧，這對於自動導航至關重要
- 提供有關自動導航的實用見解，包括基於LiDAR的定位、路徑規劃、障礙物避免，以及自動接駁車等實際案例研究
- 探討多LiDAR校準，強調對準、融合和同步，以增強覆蓋範圍並減少自動系統中的盲點
- 提供有關開源LiDAR處理工具（如PCL、Open3D和ROS）用於數據處理和可視化的詳細指南
通過將理論原則與實際應用和案例研究相結合，這本書成為計算機科學、電子學、通信工程和自動化技術領域的學術和研究人員的參考書籍。
作者簡介
Rajalakshmi Pachamuthu is currently a Professor at the Indian Institute of Technology Hyderabad, India, and the Project Director of the Technology Innovation Hub on Autonomous Navigation (TIHAN), a Section 8 company established at IIT Hyderabad under the National Mission on Interdisciplinary Cyber Physical Systems (NM-ICPS). She received a PhD from the Indian Institute of Technology Madras, India, in 2008. With more than 250 internationally reputed research publications, her research interests include Autonomous vehicles, Advanced Driver Assistance Systems (ADAS), drone-based sensing, the Internet of Things, artificial intelligence, cyber-physical systems, sensor networks, and wireless networks. She has directed 17 projects as a PI & Co-PI, including the Project Director TIHAN and Data Acquisition Systems (UAV, RoV.) under DST's NM-ICPS. She has been a member of various national and international bodies, including the Expert Committee - Engineering Sciences (Start-up Research Grant, National Post-Doctoral Fellowships, and Early Career Research Award Schemes) since July 2021. She was awarded as many awards, including 'CYIENT Chair Professor in Future Communications' at IITH in April 2021 for a period of 3 years and The Digital Trail Blazer Award 2016' by India Today in December 2016 at the National Level.
Bhaskar Anand received his PhD from the Indian Institute of Technology Hyderabad and his master's degree in communication systems from the Sardar Vallabhbhai National Institute of Technology (SVNIT) Surat, India, in 2016. He also worked as a Postdoctoral Fellow at TIHAN, Indian Institute of Technology Hyderabad, India. He is currently an Assistant Professor in the Department of Electronics and Communication Engineering at Koneru Lakshmaiah Education Foundation, Hyderabad, Telangana, India. His research interests include AI-based traffic sensing using LiDAR point cloud, sensor fusion, mapping and path planning for autonomous vehicles, and image processing.
Abhishek Thakur is currently a PhD research scholar with a prestigious prime minister's research fellow by the Government of India in the Department of Electrical Engineering at the Indian Institute of Technology Hyderabad, India. He received his Bachelor's degree in Electronics & Communication Engineering from the Indian Institute of Information Technology, Manipur, India, in 2019. He is also a member of the IEEE Intelligent Transportation Systems Society (ITSS) Committee on Young Professionals. His research interests include LiDAR-based Mapping and Localization for Autonomous Navigation, LiDAR data processing, and sensor fusion for Autonomous vehicles.
Parvez Alam is currently a PhD research scholar in the Department of Artificial Intelligence at the Indian Institute of Technology Hyderabad, India. His research interests include point cloud processing using AI, autonomous driving, edge AI, reinforcement learning, LLM for robots, and artificial general intelligence (AGI).
作者簡介(中文翻譯)
Rajalakshmi Pachamuthu 目前是印度海得拉巴印度理工學院的教授，也是自主導航技術創新中心 (Technology Innovation Hub on Autonomous Navigation, TIHAN) 的專案主任，該中心是根據國家跨學科網路物理系統任務 (National Mission on Interdisciplinary Cyber Physical Systems, NM-ICPS) 在印度海得拉巴印度理工學院成立的第八類公司。她於2008年獲得印度馬德拉斯印度理工學院的博士學位。擁有超過250篇國際知名的研究出版物，她的研究興趣包括自主車輛、高級駕駛輔助系統 (ADAS)、基於無人機的感測、物聯網、人工智慧、網路物理系統、感測器網路和無線網路。她作為主要研究者 (PI) 和共同研究者 (Co-PI) 指導了17個專案，包括TIHAN專案主任和在DST的NM-ICPS下的數據獲取系統 (UAV, RoV)。自2021年7月以來，她一直是各種國內和國際機構的成員，包括工程科學專家委員會 (Expert Committee - Engineering Sciences)（啟動研究補助金、國家博士後獎學金和早期職業研究獎計畫）。她獲得了多項獎項，包括2021年4月在IITH獲得的「未來通訊的CYIENT講座教授」為期三年，以及2016年12月由《印度今日》頒發的「2016年數位開拓者獎」的國家級獎項。
Bhaskar Anand 於2016年獲得印度海得拉巴印度理工學院的博士學位，並在印度蘇拉特的薩達爾·瓦拉巴伊國立技術學院 (Sardar Vallabhbhai National Institute of Technology, SVNIT) 獲得通信系統的碩士學位。他還曾在印度海得拉巴印度理工學院的TIHAN擔任博士後研究員。目前，他是印度特倫甘納邦Koneru Lakshmaiah教育基金會電子與通信工程系的助理教授。他的研究興趣包括基於AI的交通感測、使用LiDAR點雲的感測器融合、自主車輛的地圖製作和路徑規劃，以及影像處理。
Abhishek Thakur 目前是印度海得拉巴印度理工學院電氣工程系的博士研究學者，並獲得印度政府的總理研究獎學金。他於2019年獲得印度信息技術學院 (Indian Institute of Information Technology, Manipur) 的電子與通信工程學士學位。他也是IEEE智能交通系統學會 (IEEE Intelligent Transportation Systems Society, ITSS) 年輕專業人士委員會的成員。他的研究興趣包括基於LiDAR的自主導航地圖製作和定位、LiDAR數據處理，以及自主車輛的感測器融合。
Parvez Alam 目前是印度海得拉巴印度理工學院人工智慧系的博士研究學者。他的研究興趣包括使用AI的點雲處理、自主駕駛、邊緣AI、強化學習、機器人用的LLM，以及人工通用智慧 (AGI)。
