Detailed Analysis on Generating the Range Image for LiDAR Point Cloud Processing

Range images are commonly used representations for 3D LiDAR point cloud in the field of autonomous driving. The approach generating a range image is generally regarded as standard approach. However, there do exist two different types approaches to image: In one approach, row defined laser ID, and other elevation angle. We named first Projection By Laser ID (PBID), second Elevation Angle (PBEA). Few previous works have paid attention difference these approaches. this work, we quantitatively analyze Experimental results show that PBEA can obtain much smaller quantization errors than PBID, should be preferred choice reconstruction-related tasks. If PBID chosen use recognition-related tasks, then tolerate its larger error.