Implementation Details
Sensor Mount
For the spring semester, there was a drastic change in our sensor mount and infrastructure as a whole. Firstly, we shifted from a cart to a heavy duty industrial tripod, with adjustable height settings. There is a base plate made out of aluminium for housing the LiDAR . Microsoft’s RGB camera is mounted to the bottom of the plate using a U bracket. The mounting of both LiDAR and the camera is done in such a way that they both face in the same direction. This is required so as to support the LiDAR-Camera calibration. This above setup ensured a greater stability of the infrastructure and also made it resilient to the vibrations from the LiDAR. The below figure shows the completed infrastructure with sensor mount.
