Publication Type
Conference Proceeding Article
Version
acceptedVersion
Publication Date
10-2024
Abstract
We address the challenge of multi-LiDAR interference, an issue of growing importance as LiDAR sensors are embedded in a growing set of pervasive devices. We introduce a novel approach named D2SR, enabling decentralized interference detection, mitigation, and recovery without explicit coordination among nearby LiDAR devices. D2SR comprises three stages: (a) Detection, which identifies interfered frames, (b) Mitigation, which performs time-shifting of a LiDAR’s active period to reduce interference, and (c) Recovery, which corrects or reconstructs the depth values in interfered regions of a depth frame. Key contributions include a lightweight interference detection algorithm achieving an F1-score of 92%, a simple yet effective decentralized de-synchronization mechanism, and a lightweight depth recovery pipeline that preserves high throughput processing on edge devices. Evaluation on Nvidia Jetson devices demonstrates D2SR’s efficacy: under static settings, D2SR accurately detects interference in 93% of cases (recall=82%) and reduces the depth estimation error by 27% (RMSE= 38.7 cm, compared to RMSE= 60.6 cm for a baseline without D2SR). Furthermore, D2SR is able to reduce the fraction of interfered frames by 75.1% and reduce the depth estimation error (for interfered frames) by 24.9% even for a moving robot scenario.
Keywords
LiDAR Interference, Multi-Robot Systems
Discipline
Artificial Intelligence and Robotics | Databases and Information Systems
Research Areas
Data Science and Engineering
Areas of Excellence
Digital transformation
Publication
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024): Abu Dhabi, October 14-18: Proceedings,
First Page
1
Last Page
8
Publisher
IEEE
City or Country
Piscataway, NJ
Embargo Period
8-26-2024
Citation
RATHNAYAKE, Darshana; SABBELLA, Hemanth; RADHAKRISHNAN, Meera; and MISRA, Archan.
D2SR: Decentralized detection, de-synchronization, and recovery of LiDAR interference. (2024). 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024): Abu Dhabi, October 14-18: Proceedings,. 1-8.
Available at: https://ink.library.smu.edu.sg/sis_research/9230
Copyright Owner and License
Authors
Creative Commons License
This work is licensed under a Creative Commons Attribution-NonCommercial-No Derivative Works 4.0 International License.
