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Perception in 3D has become standard practice for a large part of roboticsapplications. High quality 3D perception is costly. Our previous work on anodding 2D Lidar provides high quality 3D depth information with low cost, butthe sparse data generated by this sensor poses challenges in understanding thecharacteristics of moving objects within an uncertain environment. This paperproposes a novel design of the nodding Lidar but provides dynamicreconfigurability in terms of limiting the field of view of the sensor using aset of optical mirrors. It not only provides denser scans, but it also achievesa three times higher scan update rate. Additionally, we propose a novelcalibration mechanism for this sensor and prove its effectiveness for dynamicobject detection and tracking.

3D Sensing of a Moving Object with a Nodding 2D LIDAR and Reconfigurable Mirrors