在看无人驾驶相关的资料时,发现关于radar和lidar分的很清,特在此做个简单的介绍以免混淆。
两者最本质的区别是在所用的波上,波长不通,Radar属于毫米波,通常是4-12mm; lidar用的是激光波长通常在900-1500nm之间。
Radar
Radar主要使用的是无线电波,与光波相比,遇到障碍物时无线电波比容易被吸收,所以其有效工作距离更远。
Lidar
Lidar看得更“细”,更精确。LiDAR传感器快速发射激光脉冲(通常最高可达每秒150000次脉冲),激光信号到达障碍物后反射回LiDAR传感器。传感器通过测量激光信号从发射到返回的时间,精确计算确定传感器到障碍物之间的距离,它还能探测目标物体的准确尺寸。LiDAR通常用于高分辨率地图的绘制。
现今的激光扫描仪具有大范围(高达200米)和宽视野,因此即使在很远的距离(强制性的高速)以及曲线上也可以跟踪物体。它们的主要缺点是它们完全缺乏关于检测到的对象的动态信息。另一方面,雷达传感器具有窄视场和降低的角分辨率,但是使用多普勒效应直接提供速度信息。因此,来自两个传感器的数据的融合可以从它们的互补性质中受益
Present-day laser scanners have a large range (up to 200 m) and a wide field of view, and can thus track objects even at big distances (mandatory at high speeds) as well as in curves. Their main drawback is that they completely lack dynamic information about the detected objects. Radar sensors, on the other hand, have a narrow field of view and reduced angular resolution, but use the Doppler effect to directly provide velocity information. The fusion of the data from both sensors can thus benefit from their complementary nature.[3]
Reference:
[1] What’s the difference between Radar and Laser (LIDAR)?
[2] 激光雷达(LiDAR) vs. 雷达(RADAR)
[3] Göhring D, Wang M, Schnürmacher M, et al. Radar/lidar sensor fusion for car-following on highways[C]//The 5th International Conference on Automation, Robotics and Applications. IEEE, 2011: 407-412.