Speaker
Description
We present a GNURadio out-of-tree (OOT) module for transmitting, receiving, and processing LiDAR data in real-time. The transmitter packages the data broadcasted over Ethernet from a Velodyne LiDAR in an OFDM packet. The receiver handles packet detection, alignment, carrier frequency and phase offset correction, and equalization. Finally, the demodulated packed LiDAR payload is converted to a standard XYZ format for downstream processing, such as visualization in a live 3D point cloud. The module is tested over the air on a mmWave link using 28GHz phased array antennas at the transmitter and receiver, along with USRP software-defined radios. The system is tested in a controlled indoor environment, as well as outdoors in the NSF COSMOS testbed in NYC.
| Talk Length | 15 Minutes |
|---|---|
| Link to Open Source Code | https://github.com/khermstein/gr-lidar |
| Acknowledge | Acknowledge In-Person |