技術開発室の馮 志聖(マイク)です。
Introduction
I work in some project and it use New iPad Pro with LiDAR.
I try to find out the LiDAR sensor max distance.
But I can not find out any information about this.
So I try to do some experimental test.
Visual SLAM
ios ARkit is base on this.
It will create a map for AR.
And base on Localization & Mapping.
How Visual SLAM work?
IMU (Inertial Measurement Unit、慣性計測装置) with Camera.
LiDAR SLAM
What is LiDAR (Light Detection and Ranging)?
LiDAR is depth sensor.
It can detect depth data.
How LiDAR SLAM work?
IMU (Inertial Measurement Unit、慣性計測装置) + LiDAR + Camera.
issue
Brightness
For this case I will test it in morning and night.
And use application to detect the value of brightness.
Task
iPhone X without LiDAR result in morning
Value of brightness (AVG) : 7291 Lux
Value of brightness (MAX) : 8187 Lux
Max distance is 1.65 meter.
If more than 1.65 meter value will unstable.
New iPad Pro with LiDAR result in morning
Value of brightness (AVG) : 10605 Lux
Value of brightness (MAX) : 14371 Lux
Max distance is 5.24 meter.
If more than 5.24 meter value will unstable.
New iPad Pro with LiDAR result in night
Value of brightness (AVG) : 0 Lux
Value of brightness (MAX) : 0 Lux
Max distance is 5.24 meter.
If more than 5.24 meter value will unstable.
Final
Depth result will not influence of brightness.
issue
Dark place
Camera can not work in dark place.
So even only LiDAR is work fine.
But ARKit doesn't work.
Other real object nearby the target 3D Object
iPhone X without LiDAR can not detect it.
New iPad Pro with LiDAR will detect it and hidden the part of target 3D Object.
3D scanner
iPhone X without LiDAR can not detect more detail concave-convex on real Object.
New iPad Pro with LiDAR can detect more detail concave-convex on real Object.
New iPad Pro with LiDAR will work better on 3D scanner.
And also can scan more large object.
Unstable value of distance
iPhone X without LiDAR have a lot of unstable depth value.
It need to scan more views to confirm the distance.
New iPad Pro with LiDAR have stable depth value.
The 3D object position will stable.
Other
Tell us what do you think about our result , or anything else that comes to mind.
We welcome all of your comments and suggestions.
Next time I will do more detail testing.
Reference
SLAM
- https://jp.mathworks.com/discovery/slam.html
- https://en.wikipedia.org/wiki/Simultaneous_localization_and_mapping
