How Accurate Can 2D LiDAR Be? A Comparison of the Characteristics of Calibrated 2D LiDAR Systems

Abstract

The utilization of 2D Light Detection and Ranging (LiDAR) measurements does not always provide the precision needed to accurately determine the motion range or recalibrate the position of Autonomous Guided Vehicles (AGVs). Consequently, it is essential to employ filtering and calibration methods to enhance the precision and accuracy of measurements derived from 2D LiDAR. The article proposes a multi-sectional calibration (MSC) method incorporating a median filtration (MF) phase to enhance the measurement accuracy of 2D LiDAR. The investigation focused on identifying the optimal window width for the MF module among a selection of 2D LiDAR systems. The division of the complete measurement range into sections resulted in a significant enhancement in sensitivity to deviations in measurements. The efficacy of the proposed method is evidenced by its ability to enhance accuracy in distance measurements by up to 89% for the optimal window width. The experiments indicated that the proposed method has a significant impact on the precision and accuracy of distance measurements for 2D LiDAR systems.