University of Oulu

M. Padmal, D. Marasinghe, V. Isuru, N. Jayaweera, S. Ali and N. Rajatheva, "Elevated LiDAR based Sensing for 6G - 3D Maps with cm Level Accuracy," 2022 IEEE 95th Vehicular Technology Conference: (VTC2022-Spring), Helsinki, Finland, 2022, pp. 1-5, doi: 10.1109/VTC2022-Spring54318.2022.9860788.

Elevated LiDAR based sensing for 6G : 3D maps with cm level accuracy

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Author: Padmal, Madhushanka1; Marasinghe, Dileepa1; Isuru, Vijitha1;
Organizations: 1Centre for Wireless Communications, University of Oulu, Finland
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 3.7 MB)
Persistent link:
Language: English
Published: Institute of Electrical and Electronics Engineers, 2022
Publish Date: 2023-01-16


Automating processes with the increased use of robots is one of the key vertical applications enabled by 6G. Sensing the surrounding environment, localization and communication become crucial factors for these robots to operate. Light detection and ranging (LiDAR) has emerged as an appropriate method for sensing due to its capability generating detail-rich positional information with high accuracy. However, LiDARs are power-hungry devices that generate bulk amounts of data, limiting their use as on-board sensors in robots. In this paper, we present a novel approach to the methodology of generating an enhanced 3D map with improved field-of-view using multiple LiDAR sensors. This offloads the sensing burden from robots to the infrastructure where a centralized communication network will establish localization. We utilize an inherent property of LiDAR point clouds; point rings with Inertial Measurement Unit (IMU) data embedded in the sensor for point cloud registration. The generated 3D point cloud map has an accuracy of 10 cm compared to the real-world measurements. We also carry out a proof of concept design of the proposed method using two LiDAR sensors fixed in the infrastructure at elevated positions. This extends to an application where a robot is navigated through the mapped environment using a wireless link with minimal support from the on-board sensors. Our results further validate the idea of using multiple elevated LiDARs as a part of the infrastructure for various localization applications.

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Series: IEEE Vehicular Technology Conference
ISSN: 1090-3038
ISSN-L: 1090-3038
ISBN: 978-1-6654-8243-1
ISBN Print: 978-1-6654-8244-8
Article number: 9860788
DOI: 10.1109/vtc2022-spring54318.2022.9860788
Host publication: 2022 IEEE 95th Vehicular Technology Conference : (VTC2022-Spring)
Conference: Vehicular Technology Conference
Type of Publication: A4 Article in conference proceedings
Field of Science: 213 Electronic, automation and communications engineering, electronics
Funding: This research has been supported by 5G VIIMA and the Academy of Finland, 6G Flagship program under Grant 346208.
Academy of Finland Grant Number: 346208
Detailed Information: 346208 (Academy of Finland Funding decision)
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