IEEE Robotics & Automation Magazine - September 2023 - 36

Figure 6. Specifically, the light scattered from the fog particles
can have a significantly detrimental impact on the accuracy of
the receiving mechanism, especially for solid-state lidar.
Sensors
As mentioned earlier, radar sensors are not affected by fog.
This was demonstrated by generating fog for more than 10 min
and monitoring the time-varying range profile of an object that
Fog Density Increases Over Time
6
4
2
Velodyne VLP-16
3
2
1
0123456789 10
Time (min)
300
200
100
RPLIDAR-A2
1,200
800
400
0123456789 10
Time (min)
200
150
100
50
4,500
1,500
CE30-D
3,000
0123456789 10
Time (min)
450
300
150
HPS-3D160-U
IWR 1443
10
8
6
4
2
×105
T1
10
8
6
4
2
0123
Distance (m)
1
T1
0.5
X4M03
-0.5
-1
0123
Distance (m)
45
0.5
-0.5
-1
0123
Distance (m)
45
45
1
T2
0.8
0.6
0.4
0.2
5
4
3
2
Distance (m)
1
0 0
2
4
6
8
Time (min)
10
×105
×105
T2
10
5
5
4
0123
Distance (m)
45
T1
3
2
Distance (m)
T2
1
0 0
2
4 6
8
Time (min)
10
T1
9,000
6,000
3,000
0123456789 10
Time (min)
T2
Sensing Capability
Against Fog Density
FIGURE 6. Sensing capability in a foggy environment. The number of point clouds near and away from the rods are plotted in orange and
green, respectively. The y-axis labels and rod and smoke areas refer to the number of points around rods and between sensors and rods,
respectively. The points between sensors and rods are incorrect measurements caused by fog.
36 IEEE ROBOTICS & AUTOMATION MAGAZINE SEPTEMBER 2023
Amplitude
Amplitude
Amplitude
Amplitude
Amplitude
Smoke Area
Rod Area
Smoke Area
Rod Area
Smoke Area Rod Area
Smoke Area Rod Area

IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023

Contents
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