ELLAS: Enhancing LiDAR Perception With Location-Aware Scanning Profile Adaptation

Thymon Rhemrev; Emma De Jong; Gideon Van Triest; Roger Kalkman; Jordy Pronk; Ashish Pandharipande; Nitin Jonathan Myers

doi:10.1109/JSEN.2025.3526733

ELLAS: Enhancing LiDAR Perception With Location-Aware Scanning Profile Adaptation

Thymon Rhemrev, Emma De Jong, Gideon Van Triest, Roger Kalkman, Jordy Pronk, Ashish Pandharipande, Nitin Jonathan Myers^*

^*Corresponding author for this work

Team Nitin Myers

Research output: Contribution to journal › Article › Scientific › peer-review

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Abstract

Light detection and ranging (LiDAR) is used in robots and in automotives to obtain the perception of the surrounding environment. Traditional spinning LiDARs scan the environment uniformly along all angular directions by operating at a constant rotational speed, with fixed sensing parameters throughout a rotation. Such a sensing approach, however, is suboptimal when information about static obstacles in the environment is available at the LiDAR. In this work, we introduce ELLAS, a first-of-its-kind spinning LiDAR system that dynamically adapts its range and resolution over the field of view. This adaptation is achieved by optimizing the ranging parameters at the LiDAR and the instantaneous rotational speed of the spinning platform to the location of static objects in scene topology maps. With the optimized settings, ELLAS results in a longer range along directions where static obstacles are farther away and achieves a higher angular resolution around those directions.

Original language	English
Pages (from-to)	8766-8775
Number of pages	10
Journal	IEEE Sensors Journal
Volume	25
Issue number	5
DOIs	https://doi.org/10.1109/JSEN.2025.3526733
Publication status	Published - 2025

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

Automotive
directional range adaptation
resolution adaptation
situation-aware sensing
spinning light detection and ranging (LiDAR)

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ELLAS_Enhancing_LiDAR_Perception_With_Location-Aware_Scanning_Profile_AdaptationFinal published version, 2.35 MB

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title = "ELLAS: Enhancing LiDAR Perception With Location-Aware Scanning Profile Adaptation",

abstract = "Light detection and ranging (LiDAR) is used in robots and in automotives to obtain the perception of the surrounding environment. Traditional spinning LiDARs scan the environment uniformly along all angular directions by operating at a constant rotational speed, with fixed sensing parameters throughout a rotation. Such a sensing approach, however, is suboptimal when information about static obstacles in the environment is available at the LiDAR. In this work, we introduce ELLAS, a first-of-its-kind spinning LiDAR system that dynamically adapts its range and resolution over the field of view. This adaptation is achieved by optimizing the ranging parameters at the LiDAR and the instantaneous rotational speed of the spinning platform to the location of static objects in scene topology maps. With the optimized settings, ELLAS results in a longer range along directions where static obstacles are farther away and achieves a higher angular resolution around those directions.",

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note = "Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.",

year = "2025",

doi = "10.1109/JSEN.2025.3526733",

language = "English",

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AU - Rhemrev, Thymon

AU - De Jong, Emma

AU - Van Triest, Gideon

AU - Kalkman, Roger

AU - Pronk, Jordy

AU - Pandharipande, Ashish

AU - Jonathan Myers, Nitin

N1 - Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

PY - 2025

Y1 - 2025

N2 - Light detection and ranging (LiDAR) is used in robots and in automotives to obtain the perception of the surrounding environment. Traditional spinning LiDARs scan the environment uniformly along all angular directions by operating at a constant rotational speed, with fixed sensing parameters throughout a rotation. Such a sensing approach, however, is suboptimal when information about static obstacles in the environment is available at the LiDAR. In this work, we introduce ELLAS, a first-of-its-kind spinning LiDAR system that dynamically adapts its range and resolution over the field of view. This adaptation is achieved by optimizing the ranging parameters at the LiDAR and the instantaneous rotational speed of the spinning platform to the location of static objects in scene topology maps. With the optimized settings, ELLAS results in a longer range along directions where static obstacles are farther away and achieves a higher angular resolution around those directions.

AB - Light detection and ranging (LiDAR) is used in robots and in automotives to obtain the perception of the surrounding environment. Traditional spinning LiDARs scan the environment uniformly along all angular directions by operating at a constant rotational speed, with fixed sensing parameters throughout a rotation. Such a sensing approach, however, is suboptimal when information about static obstacles in the environment is available at the LiDAR. In this work, we introduce ELLAS, a first-of-its-kind spinning LiDAR system that dynamically adapts its range and resolution over the field of view. This adaptation is achieved by optimizing the ranging parameters at the LiDAR and the instantaneous rotational speed of the spinning platform to the location of static objects in scene topology maps. With the optimized settings, ELLAS results in a longer range along directions where static obstacles are farther away and achieves a higher angular resolution around those directions.

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KW - resolution adaptation

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JO - IEEE Sensors Journal

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ELLAS: Enhancing LiDAR Perception With Location-Aware Scanning Profile Adaptation

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