Characterizing Lidar Range-Measurement Ambiguity due to Multiple Returns

ArXi:2604.09282v1 Announce Type: cross Reliable position and attitude sensing is critical for highly automated vehicles that operate on conventional roadways. Lidar sensors are increasingly incorporated into pose-estimation systems. Despite its great utility, lidar is a complex sensor, and its performance in roadway environments is not yet well understood. For instance, it is often assumed in lidar-localization algorithms that a lidar will always identify a unique surface along a given raypath.