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3D Environment Measurement and Reconstruction Based on LiDAR

In this paper, we propose 3D Environment Measurement and Reconstruction Based on LiDAR. Human life is surrounded by a variety of sensors. Through the combination of different sensors, a designer can carry out environmental testing and then replace the human perception system. The principle of Velodyne LiDAR adopts the time of flight (ToF) technology based on infrared laser light. According to the known of the speed of light, the relative distance between the object and LiDAR can be calculated. Therefore, we proposed a system design for the static object with segmentation technology based on 3D LiDAR. At first, we decode the 3D LiDAR information, which transmits the UDP format of data packets that include the information of distance, angle, reflectivity, and time stamp. Above of all results can be performed the point cloud of the coordinate system in the 3D environment. Then we define the Euclidean clustering threshold to do the object segmentation. Finally, we design a digital chip with additional CORDIC circuit based on the lookup table to achieve the sine and cosine value conversion of angle.