Sensor Selection Criteria

• Sensors Selection Criteria

	LiDAR	RADAR	Mono Cameras	Stereo Cameras
Range	CANNOT difficulties detecting objects at very close distances	CAN detect objects from less than a meter	CANNOT not able to reliably measure metric distance to object	CAN ALBEIT only up to a distance of approx. 80m
Spatial resolution	CAN high-resolution 3D scans and thus characterization of objects in a scene	CANNOT can not resolve small features very well, especially as distances increase	CAN ALBEIT Details on small object are lost as soon as the light rays emanating from them are spread to several pixels on the image sensor (blurring)
Robustness in darkness	CAN While daytime performance is very good, even better performance at night because there is no ambient sunlight that might interfere with the detection of IR laser reflections	CAN excellent robustness	CAN ALBEIT very reduced detection capability at night
Robustness in rain, snow, fog	CAN ALBEIT susceptible to adverse weather and its performance usually degrades significantly with increasing levels of adversity	CAN good performance under adverse weather conditions.	CAN ALBEIT susceptible to adverse weather and its performance usually degrades significantly with increasing levels of adversity
Classification of objects	CAN ALBEIT less object diversity than cameras	CANNOT not allow for much object classification	CAN excel at classifying objects such as vehicles, pedestrians, speed signs and many others.
Perceiving 2D structures	CANNOT	CANNOT	CAN the only sensor able to interpret two-dimensional information such as speed signs, lane markings or traffic lights, as they are able to measure both color and light intensity.
Measure speed	CAN ALBEIT only approximate speed by using successive distance measurements, which makes it less accurate in this regard.	CAN can directly measure the velocity of objects by exploiting the Doppler frequency shift	CANNOT not able to measure distance

 

• Sensors assess

	Range measurement	Robustness in darkness	Robustness in rain, snow, or fog	Classification of objects	Perceiving 2D Structures	Measure speed
Camera	-	-	-	++	++	+
Radar	++	++	++	-	-	++
Lidar	+	++	+	+	-	+