IEEE Robotics & Automation Magazine - September 2023 - 41

TABLE 4. The advantages, disadvantages, suitable applications, and quantitative comparative evaluation of lidar
and radar sensors in terms of six criteria. 1) Measurement precision-0: resolution under 2 m, 5: resolution under
0.5 cm. 2) Distance range-0: under 1 m, 5: more than 20 m. 3) Environmental robustness-0: affected before
1 min, 5: not affected. 4) Size-0: volume more than 500 cm3, 5: volume less than 50 cm3. 5) Cost-0: more than
US$3,000, 5: less than US$100. 6) Data dimension-0: FoV less than 30° × 30°, 5: FoV more than 90° × 90°.
Points 1 to 4 are uniformly assigned between 0 and 5.
SENSORS
3D mechanical
lidar
ADVANTAGES
* Large amount of point
cloud data
* Wide FoV
* Intensity information
* High resolution
* Relatively high laser
power
DISADVANTAGES
* Low vertical resolution
* Heavy and large size
* Expensive price
SUITABLE APPLICATIONS
* Wide-range 3D scanning
* Mapping and localization
* Object detection and
semantic segmentation
QUANTITATIVE
EVALUATION
2D mechanical
lidar
* High distance resolution
(2D)
* 360° coverage
* Low price
* Lightweight structure
* Relatively high laser
power
* Weak to external contact
*
Hard to recognize
semantics
* 2D mapping and
localization
* Simple geometry
indoor/outdoor driving
MEMS lidar
* High durability
* Evenly distributed
resolution
* Vulnerability to fog
* Noise
* Narrow FoV
* Small or narrow indoor
environment mapping and
localization
Flash lidar
* High durability
* Evenly distributed
resolution
* Image-like data
* Low price
* Lightweight
* Vulnerability to fog
* Narrow FoV
* Precision recognition
* Pose recognition
FMCW radar
* Robustness to fog
* Long-distance object
detection
* Limited number of
detectable objects at
the same distance
* Processing time
* Object detection in
extreme environments
* Transparent/reflective
object detection
* Human pose and
position estimation
IR-UWB radar
* Robustness to fog
* Small power
consumption
* High distance resolution
* Short-range detection
* Range measurement
only
* Expensive cost
* Object detection in
extreme environments
* Transparent/reflective
object detection
* People counting
* Traffic control
SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
41

IEEE Robotics & Automation Magazine - September 2023

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

Contents
IEEE Robotics & Automation Magazine - September 2023 - Cover1
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IEEE Robotics & Automation Magazine - September 2023 - Cover3
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