Heads-Up Lidar Imaging with Sensor Fusion.

In this paper, we present a novel Lidar imaging system for heads-up display. The imaging system consists of the onedimensional laser distance sensor and IMU sensors, including an accelerometer and gyroscope. By fusing the sensory data when the user moves their head, it creates a three-dimensional point cloud for mapping the space around. Compared to prevailing 2D and 3D Lidar imaging systems, the proposed system has no moving parts; it’s simple, light-weight, and affordable. Our tests show that the horizontal and vertical profile accuracy of the points versus the floor plan is 3 cm on average. For the bump detection the minimal detectable step height is 2.5 cm. The system can be applied to first responses such as firefighting, and to detect bumps on pavement for lowvision pedestrians.