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Proceedings Paper

Velodyne HDL-64E lidar for unmanned surface vehicle obstacle detection
Author(s): Ryan Halterman; Michael Bruch
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Paper Abstract

The Velodyne HDL-64E is a 64 laser 3D (360×26.8 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.

Paper Details

Date Published: 7 May 2010
PDF: 8 pages
Proc. SPIE 7692, Unmanned Systems Technology XII, 76920D (7 May 2010); doi: 10.1117/12.850611
Show Author Affiliations
Ryan Halterman, Space and Naval Warfare Systems Ctr. Pacific (United States)
Michael Bruch, Space and Naval Warfare Systems Ctr. Pacific (United States)

Published in SPIE Proceedings Vol. 7692:
Unmanned Systems Technology XII
Grant R. Gerhart; Douglas W. Gage; Charles M. Shoemaker, Editor(s)

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