Assessing the Robustness of LiDAR, Radar and Depth Cameras Against Ill-Reflecting Surfaces in Autonomous Vehicles: An Experimental Study

原文アブストラクト

Range-measuring sensors play a critical role in autonomous driving systems. While LiDAR technology has been dominant, its vulnerability to adverse weather conditions is well-documented. This paper focuses on secondary adverse conditions and the implications of ill-reflective surfaces on range measurement sensors. We assess the influence of this condition on the three primary ranging modalities used in autonomous mobile robotics: LiDAR, RADAR, and Depth-Camera. Based on accurate experimental evaluation the papers findings reveal that under ill-reflectivity, LiDAR ranging performance drops significantly to 33% of its nominal operating conditions, whereas RADAR and Depth-Cameras maintain up to 100% of their nominal distance ranging capabilities. Additionally, we demonstrate on a 1:10 scaled autonomous racecar how ill-reflectivity adversely impacts downstream robotics tasks, highlighting the necessity for robust range sensing in autonomous driving.