Investigating the Impact of Multi-LiDAR Placement on Object Detection for Autonomous Driving. (arXiv:2105.00373v4 [cs.RO] UPDATED)

The past few years have witnessed an increasing interest in improving the
perception performance of LiDARs on autonomous vehicles. While most of the
existing works focus on developing new deep learning algorithms or model
architectures, we study the problem from the physical design perspective, i.e.,
how different placements of multiple LiDARs influence the learning-based
perception. To this end, we introduce an easy-to-compute information-theoretic
surrogate metric to quantitatively and fast evaluate LiDAR placement for 3D
detection of different types of objects. …

arxiv autonomous autonomous driving detection driving impact lidar