LiDAR point clouds analysis computer tools for teaching autonomous vehicles perception algorithms

Abstract

The technological developments behind autonomous vehicles cover several areas and engineers training in this field represents a challenge. The main layers include perception, decision making, and acting. In the first one, different technologies can be used. The processing of the information provided by the sensors must allow successive modules to understand the environment and Laser imaging Detection and Ranging (LiDAR) technology is one of the most promising ones nowadays for this task. It offers great robustness in detection, but the extraction of information from the point cloud involves the development of complex algorithms that could be very time-consuming if an experimental teaching is intended. This article presents two educational solutions for deepening in perception algorithms using LiDAR for autonomous driving: a closed ad-hoc computer application for two-dimensional (2D) LiDAR point cloud processing and an oriented set of commands for three-dimensional (3D) LiDARs in Matlab. Their use allows main concept exploration in practical sessions with little time consumption and provides students a general overview of the tasks that must be performed by the perception layer in the autonomous vehicles. Furthermore, these tools provide the possibility of organizing different activities in the classroom related to theoretical and experimental issues, and understanding of results because the most tedious tasks are eased.