Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR
Geiger-Mode LiDAR is a powerful time-of-flight range sensing technology that enables rapid, wide area three-dimensional mapping with the unique capability of foliage penetration. These sensor arrays produce very high data rates on the order of 5 Gbps, requiring high-bandwidth motion compensation and...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2022
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| Online Access: | https://hdl.handle.net/1721.1/144899 |
| _version_ | 1811069076048445440 |
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| author | McGuire, Jacob T. |
| author2 | Rowe, Gregory |
| author_facet | Rowe, Gregory McGuire, Jacob T. |
| author_sort | McGuire, Jacob T. |
| collection | MIT |
| description | Geiger-Mode LiDAR is a powerful time-of-flight range sensing technology that enables rapid, wide area three-dimensional mapping with the unique capability of foliage penetration. These sensor arrays produce very high data rates on the order of 5 Gbps, requiring high-bandwidth motion compensation and coincidence processing to correlate the range returns and locate the modes in three-dimensional space. This paper proposes a multi-processor system architecture and memory management techniques for performing orientation-compensated histogram generation and peak detection to filter the LiDAR data stream, removing redundancy and spurious outputs. The multi-processor design, employing custom logic in concert with multiple CPUs, offers a reduction in system size, weight, and power [SWaP] by several orders of magnitude when compared to existing CPU-only real time coincidence processor designs. Behavioral simulations and hardware-in-the-loop testing offer partial proof of functionality for this design, which is capable of reducing the data rate by a factor of approximately 300 with output in the form of Cartesian coordinates, which can be directly integrated into a point cloud data structure for viewing. This promising result warrants further development work on LiDAR system designs incorporating these concepts. |
| first_indexed | 2024-09-23T08:05:19Z |
| format | Thesis |
| id | mit-1721.1/144899 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T08:05:19Z |
| publishDate | 2022 |
| publisher | Massachusetts Institute of Technology |
| record_format | dspace |
| spelling | mit-1721.1/1448992022-08-30T04:07:47Z Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR McGuire, Jacob T. Rowe, Gregory Steinmeyer, Joe Vasile, Alexandru Massachusetts Institute of Technology. Department of Electrical Engineering and Computer Science Geiger-Mode LiDAR is a powerful time-of-flight range sensing technology that enables rapid, wide area three-dimensional mapping with the unique capability of foliage penetration. These sensor arrays produce very high data rates on the order of 5 Gbps, requiring high-bandwidth motion compensation and coincidence processing to correlate the range returns and locate the modes in three-dimensional space. This paper proposes a multi-processor system architecture and memory management techniques for performing orientation-compensated histogram generation and peak detection to filter the LiDAR data stream, removing redundancy and spurious outputs. The multi-processor design, employing custom logic in concert with multiple CPUs, offers a reduction in system size, weight, and power [SWaP] by several orders of magnitude when compared to existing CPU-only real time coincidence processor designs. Behavioral simulations and hardware-in-the-loop testing offer partial proof of functionality for this design, which is capable of reducing the data rate by a factor of approximately 300 with output in the form of Cartesian coordinates, which can be directly integrated into a point cloud data structure for viewing. This promising result warrants further development work on LiDAR system designs incorporating these concepts. M.Eng. 2022-08-29T16:19:35Z 2022-08-29T16:19:35Z 2022-05 2022-05-27T16:18:31.640Z Thesis https://hdl.handle.net/1721.1/144899 In Copyright - Educational Use Permitted Copyright MIT http://rightsstatements.org/page/InC-EDU/1.0/ application/pdf Massachusetts Institute of Technology |
| spellingShingle | McGuire, Jacob T. Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR |
| title | Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR |
| title_full | Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR |
| title_fullStr | Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR |
| title_full_unstemmed | Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR |
| title_short | Multi-Domain Coincidence Processing and Memory Architecture for Real-Time Geiger Mode LiDAR |
| title_sort | multi domain coincidence processing and memory architecture for real time geiger mode lidar |
| url | https://hdl.handle.net/1721.1/144899 |
| work_keys_str_mv | AT mcguirejacobt multidomaincoincidenceprocessingandmemoryarchitectureforrealtimegeigermodelidar |