A method for estimating object detection probability, lateral resolution, and errors in 3D-LiDARs

3D-LiDARs are nowadays used for many applications, the success of which certainly depends on the processing of the LiDAR output—the point cloud, PC,—but it also inexorably depends on the quality of the PC data. In this study, we propose an experimental method aimed at allowing estimating the errors and deformations that will statistically affect the LiDAR output — the PC. Taking advantage of the fact that LiDARs sample the surrounding space by observing it along divergent lines, hereinafter referred to as rays, this study proposes a simple method based on the experimental determination of the ray detection probability — the probability that a single ray detects the hit object, or a fraction of it, by adding a point in the point cloud. All other probabilities of interest are derived from such a probability. The proposed method also allows highlighting unexpected errors such as cross-talk. As will be shown by the examples given, due to cross-talk, small objects may be deformed and enlarged on a significantly greater number of points in the PC. Likewise, objects angularly separated by an angle greater than the angular resolution declared by the manufacturer may unexpectedly result in a continuum of points. Such errors may compromise the ability to perform very important tasks such as detection, classification, and tracking of dynamic and static objects, as well as the partition of the scene into drivable and non-drivable regions and the path planning around generic obstacles in 3D space

X-linked heterochromatin distribution in the holocentric chromosomes of the green apple aphid Aphis pomi

Chromatin organization in the holocentric chromosomes of the green apple aphid Aphis pomi has been investigated at a cytological level after C-banding, NOR, Giemsa, fluorochrome staining and fluorescent in situ hybridization (FISH). C-banding technique showed that heterochromatic bands are exclusively located on X chromosomes. This data represents a peculiar feature that clearly contradicts the equilocal distribution of heterochromatin typical of monocentric chromosomes. Moreover, silver staining and FISH carried out with a 28S rDNA probe localized rDNA genes on one telomere of each X chromosome; CMA(3) staining reveals that these silver positive telomeres are, the only GC-rich regions among A. pomi heterochromatin, whereas all other C-positive bands are DAPI positive thus containing AT-rich DNA

Comparison of VLP-16 and MRS-1000 LiDAR systems with absolute interferometer

Nowadays, LiDARs hold a relevant place in providing the environmental sensing required by most ADAS. Promoted by such increasing demand, many new manufacturers are emerging and, new LiDARs are continuously made available on the market. If, on the one hand, the availability of LiDARs with increasing performance and reducing cost has brought significant benefits also promoting the spread of such measuring systems in other areas such as industrial controls and agriculture, on the other, it has made it more difficult to extricate in the immense set of LiDARs present on the market today. In response to this growing need for standards and methods capable of comparing the various LiDARs, many international standards and scientific publications are being produced on the subject. In this paper, we continue our work on LiDARs characterization, focusing our attention on comparing the performances of two of the must popular systems - namely, the MRS 1000 by Sick and the VLP 16 by Velodyne. Starting from the analysis of the warm-up time and stability, such a comparison focused on analyzing the axial error of both systems. Such errors have been estimated by exploiting a custom rail system and an absolute interferometer. The obtained results revealed warm-up times of a few tens of minutes and maximum absolute axial errors of a few centimeters in the range [1.5,21] m

A simple method for the preliminary analysis and benchmarking of automotive LiDARs in fog

The vast multitude of LiDAR systems currently available on the market makes the need for methods to compare their performances increasingly high. In this study, we focus our attention on the development of a method for the analysis of the effects induced by the fog, one of the main challenges for Advanced Driver Assist Systems (ADASs) and autonomous driving. Large experimental setups capable of reconstructing adverse weather conditions on a large scale in a controlled and repeatable way are certainly the best test conditions to analyze and compare LiDARs performances in the fog. Nonetheless, such large plants are extremely expensive and complex, therefore only available in a few sites in the world. In this study, we thus propose a measurement method, a data analysis procedure and, an experimental setup that are extremely simple and inexpensive to implement. The achievable results are reasonably less accurate than those obtainable with large plants. Nevertheless, the proposed method can allow to easily and quickly obtain a preliminary estimate of the performance in the presence of fog and a rapid benchmarking of different LiDAR systems

Analysis, Quantification, and Discussion of the Approximations Introduced by Pulsed 3-D LiDARs

Light detection and rangings (LiDARs) are considered essential for the environmental sensing required by most advanced driver assistance system (ADAS), including autonomous driving. This has led to significant investments resulted in the availability of countless measuring systems that are increasingly performing and less expensive. Nevertheless, the extremely high speed of light still leads to a nonnegligible quantization error in the direct time-of-flight (ToF) measure at the base of pulsed LiDARs-the leading technology for automotive applications. Hence, pulsed 3-D LiDARs analyze the surrounding by approximating and deforming it on concentric spheres whose radii are quantized with a quantization step that, for most commercial systems, is on the order of some centimeters. The deformation and error introduced by such quantization can thus he significant. In this study, we point out the approximations and assumptions intrinsic to 3-D LiDARs and propose a measurement procedure that, through the analysis of the fine variations of the target position, allows an accurate investigation of the axial resolution and error-probably among the few limitations still affecting this technology. To the best of our knowledge, this is the first study focused on the detailed analysis of the quantization error in 3-D LiDARs. The proposed method has been tested on one of the most popular 3-D LiDARs, namely the MRS 6000 by Sick. The obtained results revealed for the MRS 6000 a quantization step of about 6 cm (ToF quantization of about 0.4 ns) and an axial error normally distributed with experimental standard deviation of about 30 mm

LiDARs detected signal and Target distance estimation: measurement errors from Target reflectance and multiple echos

The use of LiDARs in automotive is increasingly widespread. In order to operate in a critical environment such as that of mobility, these systems must offer increasingly high performance. In particular, the ability to estimate the position of objects regardless of their reflectance and presence of diffusing backgrounds is a very sought-after feature by manufacturers. In commercial systems various strategies are used to make the measurement as insensitive as possible to these effects, however, it is not possible to fully compensate for the measurement errors caused by them. In this paper, we propose two simple experimental setups to verify the presence of these measurement errors in two scenarios. Moreover, we report the performance of a commercial LiDAR (MRS 6000 by Sick) using certified reflectance standards (Spectralon (R) Diffuse Reflectance Standards, by Labsphere). For this LiDAR, the results obtained show that a logarithmic variation of the reflectance of the target of 1.26-log at a target distance 2.4 m provides incompatible measurements. Furthermore, the presence of a background at a distance shorter than 11 cm, 12 cm and 13 cm respectively with 50 %, 75 % and 99 % reflectance also provides incompatible measurements for a target distance of 1.3 m from the LiDAR

Relationship among expression, amplification, and methylation of FE4 esterase genes in Italian populations of Myzus persicae (Sulzer) (Homoptera : Aphididae)

The wide use of insecticides containing an esteric group selected resistant Myzus persicae populations characterised by the overproduction of one of two closely related carboxylesterases (E4 and FE4). In this paper, we present data collected from Italian population indicating that all the 22 populations analysed possess amplified FE4 gene only. The estimation of FE4 copy number, carried out by densitometric scanning of dot and Southern blots, puts in evidence that the different populations possess a gene copy number ranging from 6 to 104. Statistical analysis shows the existence of a high positive correlation between gene copy number and total esterase activity. In aphid strain with low FE4 copy number, these genes are almost totally methylated. On the contrary, aphid strains with high FE4 gene number evidenced highly variable methylation levels and absence of correlation between the number of genes and their methylation state. The same result has been observed when comparing FE4 methylation levels and esterase activity

Revealing the Dynamic Magneto-ionic Environments of Repeating Fast Radio Burst Sources through Multi-year Polarimetric Monitoring with CHIME/FRB

Fast radio bursts (FRBs) display a confounding variety of burst properties and host galaxy associations. Repeating FRBs offer insight into the FRB population by enabling spectral, temporal and polarimetric properties to be tracked over time. Here, we report on the polarized observations of 12 repeating sources using multi-year monitoring with the Canadian Hydrogen Intensity Mapping Experiment (CHIME) over 400-800 MHz. We observe significant RM variations from many sources in our sample, including RM changes of several hundred $\rm{rad\, m^{-2}}$ over month timescales from FRBs 20181119A, 20190303A and 20190417A, and more modest RM variability ($\rm{\Delta RM \lesssim}$ few tens rad m$^{-2}$) from FRBs 20181030A, 20190208A, 20190213B and 20190117A over equivalent timescales. Several repeaters display a frequency dependent degree of linear polarization that is consistent with depolarization via scattering. Combining our measurements of RM variations with equivalent constraints on DM variability, we estimate the average line-of-sight magnetic field strength in the local environment of each repeater. In general, repeating FRBs display RM variations that are more prevalent/extreme than those seen from radio pulsars in the Milky Way and the Magellanic Clouds, suggesting repeating FRBs and pulsars occupy distinct magneto-ionic environments

A CHIME/FRB Study of Burst Rate and Morphological Evolution of the Periodically Repeating FRB 20180916B

FRB 20180916B is a repeating fast radio burst (FRB) with a 16.3 day periodicity in its activity. In this study, we present morphological properties of 60 FRB 20180916B bursts detected by CHIME/FRB between 2018 August and 2021 December. We recorded raw voltage data for 45 of these bursts, enabling microseconds time resolution in some cases. We studied variation of spectro-temporal properties with time and activity phase. We find that the variation in dispersion measure (DM) is ≲1 pc cm−3 and that there is burst-to-burst variation in scattering time estimates ranging from ∼0.16 to over 2 ms, with no discernible trend with activity phase for either property. Furthermore, we find no DM and scattering variability corresponding to the recent change in rotation measure from the source, which has implications for the immediate environment of the source. We find that FRB 20180916B has thus far shown no epochs of heightened activity as have been seen in other active repeaters by CHIME/FRB, with its burst count consistent with originating from a Poissonian process. We also observe no change in the value of the activity period over the duration of our observations and set a 1σ upper limit of 1.5 × 10−4 day day−1 on the absolute period derivative. Finally, we discuss constraints on progenitor models yielded by our results, noting that our upper limits on changes in scattering and DM as a function of phase do not support models invoking a massive binary companion star as the origin of the 16.3 day periodicity.</p