Placement Optimization of Multiple Lidar Sensors for Autonomous Vehicles

The problem with lidar placement is finding a lidar position that reduces the dead zone and improves the point cloud resolution. A lidar placement method is thus proposed for the multiple lidar system of autonomous vehicles to resolve this problem. With the introduction of the lidar occupancy grid, the problem is formulated as an optimization problem. A genetic algorithm is subsequently applied to solve the optimization problem. The experimental results using commercial lidars are subsequently presented to show the usefulness of the proposed method.