Efficient CORDIC Iteration Design of LiDAR Point Cloud Map Reconstruction Technology
Yu‐Cheng Fan, Chiao-An Chu, Yicheng Liu · 2019
Modern technology is developed very soon in recent years, the automatic driving system is changing every day. Many companies are using LiDAR (Light Detection And Ranging) scanner. Due to the increasing demand for use, this paper adopts Velodyne LiDAR PUCK-16 (VLP-16) to retrieve data and reconstruct the point cloud maps. In addition, we use the digital chip design flow to decode the collected LiDAR packet data. Then, CORDIC (COordinate Rotation DIgital Computer) circuit is used to transfer the LiDAR packet into three-dimensional coordinates. Because the iteration times of the CORDIC circuit is too time-consuming, this paper proposes an efficient method to choose the angle. We use the angle rotation characteristics in the traditional CORDIC formula, and pre-select the required angle to reduce the number of iterations. This paper can not only reduce the number of iterations but also reduce chip area. The required computing time is also reduced.