Lidar for Autonomous Driving: The principles, challenges, and trends for automotive lidar and perception systems (2004.08467v1)

Abstract: Autonomous vehicles rely on their perception systems to acquire information about their immediate surroundings. It is necessary to detect the presence of other vehicles, pedestrians and other relevant entities. Safety concerns and the need for accurate estimations have led to the introduction of Light Detection and Ranging (LiDAR) systems in complement to the camera or radar-based perception systems. This article presents a review of state-of-the-art automotive LiDAR technologies and the perception algorithms used with those technologies. LiDAR systems are introduced first by analyzing the main components, from laser transmitter to its beam scanning mechanism. Advantages/disadvantages and the current status of various solutions are introduced and compared. Then, the specific perception pipeline for LiDAR data processing, from an autonomous vehicle perspective is detailed. The model-driven approaches and the emerging deep learning solutions are reviewed. Finally, we provide an overview of the limitations, challenges and trends for automotive LiDARs and perception systems.

• The paper presents the ieee.cls LaTeX class file that automates formatting across draft, review, and final stages for IEEE publications.
• It details versatile modes—including draft, internal review, and camera-ready—that adapt to diverse submission guidelines.
• The proposed method reduces manual formatting burdens, allowing researchers to focus more on substantive research work.

Overview of the Specification for Common IEEE Styles

The paper "Specification for Common IEEE Styles" by Gregory L. Plett and István Kollár provides an in-depth analysis and proposal for standardized macro packages aimed at streamlining the document formatting process for IEEE publications. The primary goal of this work is to mitigate the time-consuming and often frustrating task of manually formatting research papers by utilizing modern text processors' macro capabilities to automate this process.

Key Points of the Paper

The paper emphasizes several stages in the document life-cycle that benefit from automated formatting:

1. Draft Stage: Early stages of manuscript development require easy-to-edit formats. Key features include double-spacing and wide margins to facilitate authorial notes and revisions.
2. Internal Review: This preliminary review stage is intended for feedback from colleagues and benefits from clear differentiation as a non-finalized document.
3. Submission for Review: Format requirements vary by media, often requiring features like anonymous title pages, and this stage benefits immensely from automated formatting to comply with diverse submission guidelines.
4. Final Form: For both journal submissions and camera-ready conference papers, the format must closely reflect final publication standards, with considerations for page lengths and aesthetic presentation.
5. Electronic Distribution: Throughout various distribution stages, it's crucial that documents clearly communicate their status—whether submitted, accepted, or published—via appropriate headers and footers.

The authors provide comprehensive specifications for a LaTeX class file named ieee.cls, designed to meet these varying formatting requirements. This package, which builds upon previous iterations like IEEEtran.sty and IEEEtran.cls, is intended to be adaptable across different IEEE journals and conferences by means of plug-in files that customize the base format for specific needs.

Implementation and Utility

The ieee.cls package is presented as a robust solution to the challenges of document formatting, particularly for academic and technical papers. Its features include versatile main modes—such as draft and final—and sub-modes like internal, submitted, and reprint. Users specify formatting preferences by selecting the appropriate mode at the start of their document, and can further define aspects such as type size and column arrangement.

Implications and Future Directions

The automated formatting methods introduced have practical implications for researchers across disciplines, reducing administrative burden and ensuring compliance with standardized guidelines, which are often stringent and complex. By freeing researchers from mundane formatting tasks, more time can be allocated to substantive research activities.

The paper elucidates possible expansion through collaborative efforts among proponents of various text processor systems. The broader scientific community stands to benefit substantially if these methodologies are adapted for other platforms like Microsoft Word, thereby facilitating a unified approach to document presentation in scientific communication.

Conclusion

The efforts detailed in this paper underscore the value of standardized macro packages in streamlining the paper development process for IEEE publications. The proposed solutions not only improve efficiency but also signal a movement towards uniformity in document presentation, a key element in the preservation and dissemination of research findings. As researchers continue to navigate an evolving publication landscape, such tools become indispensable assets in enhancing the overall efficiency and professionalism of academic outputs.