Lidar is an important component of the perception suite for automated systems. The effects of vibration on lidar point clouds are mostly unknown, despite the lidar’s wide adaption and usual application under conditions where vibration occurs frequently. In this study, we performed controlled vibration tests from 6 to 2000 Hz at 9 and 12 m/s² in vertical direction on the automotive lidar OS1-64 by Ouster. An information loss emerged which is mostly independent from frequency and acceleration. The loss of points is randomly distributed and does not correlate with range, intensity, or ring number (the horizontal line of the rotating lidar unit). The resonance frequency of 1426 Hz proved to be unproblematic as no pronounced negative effects on the point cloud could be identified. For vibration detection, the internal Inertial Measurement Unit (IMU) of the OS1-64 is accurate and sufficient for vibrations up to 50 Hz. Above 50 Hz, external IMUs would be required for vibration detection. Counting the number of points on a target close to the edges was investigated as an exemplary way to detect vibration purely based on the point cloud, i.e., independent of the lidar’s IMU.

中文翻译：

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汽车激光雷达和振动：共振、惯性测量单元和对点云的影响

激光雷达是自动化系统感知套件的重要组成部分。尽管激光雷达具有广泛的适应性并且通常在振动频繁发生的条件下应用，但振动对激光雷达点云的影响大多是未知的。在这项研究中，我们在 9 和 12 m/s ^{2下进行了从 6 到 2000 Hz 的受控振动测试}在 Ouster 的汽车激光雷达 OS1-64 上垂直方向。出现了一种信息丢失，它主要与频率和加速度无关。点的丢失是随机分布的，与距离、强度或环数（旋转激光雷达单元的水平线）无关。1426 Hz 的共振频率被证明是没有问题的，因为无法识别出对点云的明显负面影响。对于振动检测，OS1-64 的内部惯性测量单元 (IMU) 准确且足以应对高达 50 Hz 的振动。在 50 Hz 以上，振动检测需要外部 IMU。研究了计算靠近边缘的目标上的点数，作为纯粹基于点云（即独立于激光雷达的 IMU）检测振动的示例性方法。