Design of an Efficient, Low-Cost, Stationary LiDAR System for Roadway Condition Monitoring

Abstract

Light Imaging Detection and Ranging (LiDAR) systems generate point cloud imagery by using laser light to measure distance to a surface and then combine numerous points to create a three-dimensional (3-D) image. Since early adaptations, LiDAR is now common in aerial and subterranean geographical surveying and autonomous vehicle operations. The transportation industry uses LiDAR to monitor roadway quality, which can allow hazardous roadway corrosion to be spotted and repaired before endangering drivers. However, a leading issue with LiDAR availability is the respectively high price point for effective systems, therefore preventing widespread usage. Previous work at fabrication of a low-cost LiDAR system generated high resolution 3-D imagery but was faulted by limited portability and a long run-time while also finding issues with gimbal translation and C++ programming. This effort improves the prior work by combining a touchscreen Graphical User Interface (GUI) with a rangefinder (Garmin LiDAR-Lite v3HP) powered by Raspberry Pi 4 Model B hardware. The rangefinder is housed in a 3-D printed gimbal mount that translates via two stepper motors and driver board. The system runs via a Python script that allows the user to select varying levels of resolution on the GUI prior to data collection onto a Secure Digital card or a file accessible through an internet connection. Like the previous work, data output is in Cartesian coordinates through a .xyz file format with a MATLAB script used to create a point cloud and two-dimensional image with a depth gradient. Overall, a more efficient, easier to use, and accurate LiDAR system was created that offers various resolution levels for under the cost of $500.