Integration of a LIDAR System-on-Chip on a Raspberry Pi platform
Promotor(s) : Vanderbemden, Philippe
Date of defense : 25-Jun-2018/26-Jun-2018 • Permalink :
|Integration of a LIDAR System-on-Chip on a Raspberry Pi platform
|Translated title :
|[fr] Intégration d'un système sur puce LIDAR sur une plateforme Raspberry Pi
|Date of defense :
|Committee's member(s) :
|Number of pages :
|Engineering, computing & technology > Electrical & electronics engineering
|Université de Liège, Liège, Belgique
|Master en ingénieur civil électricien, à finalité spécialisée en "electrical engineering"
|Master thesis of the Faculté des Sciences appliquées
[en] To buy a product from a company, the customer needs to be convinced about the quality
of the product. For this reason, Melexis has for each product line (optical sensors, pressure
sensors,...) a team dedicated to develop a demonstration kit to put forward the product.
The aim of this thesis is to improve the demonstration kit, from the chip to the computer, of
a LIDAR optical sensor in order to show a real-time application. A microcontroller is used as the
interface between the Melexis LIDAR sensor and the PC of the user where a GUI, Graphical User Interface, displays the measurements. In the previous kit, an MBED LPC 1768 microcontroller was used to communicate via USB with the computer and a low number of measurements per second of 5 was obtained. With this new demonstration kit a target of at least 25 frames displayed on the user PC per second is expected.
First, the previous evaluation kit is analysed to understand its limitations compared to the
maximum sensor performance. Based on the new requirements, the choice to replace the microcontroller with a Raspberry Pi is made. The SPI (Serial Peripheral Interface) communication with the LIDAR sensor and the Ethernet connection with the computer is then implemented on the new microcontroller. Concerning the Ethernet protocol, the choice of a combination of the UDP (User Datagram Protocol) and TCP (Transmission Control Protocol) protocols in parallel is also explained. Finally the Graphical User Interface (GUI) is improved and the sensor board design is adapted to fit perfectly on top of the Raspberry Pi so that the final evaluation kit is user friendly.
By integrating the Raspberry Pi, the final demonstration kit enables to display up to 40
frames per second corresponding to more than five times better results obtained than the ones
with the previous version. Limited to small processing and data transferring time, the displayed
performance corresponds to approximately 95% of the total capabilities of the sensor. Since
only a small amount of evaluation kits are developed, the Raspberry Pi seems to be the perfect
interface between a sensor board and a computer.
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