ADAPTIVE VARIABLE-RESOLUTION 2.5D LiDAR MAPPING

Variable-Resolution 2.5D Grid Engine for Dynamic Environment Perception

DATASET REPLAY (10 Hz)

RESEARCH PIPELINE

LIVE

LiDAR Sequence:

Sequence Frame:1 / 100

Colormap Mode:

Point Cloud Size:3.5px

2.5D Grid Opacity:90%

3-Zone Foveation:

Hesai 40-Beam

ZONE 0 — FOVEAL / NEARRadius: 0–10m

5 cm (0.05m)

ZONE 1 — INTERMEDIATERadius: 10–50m

25 cm (0.25m)

ZONE 2 — PERIPHERAL / FARRadius: 50–100m

50 cm (0.50m)

5cm near-field grid cells preserve exact curb & obstacle boundaries, while 50cm far-field reduces theoretical spatial cell capacity by 97.29% and frame occupied cells by ~80%.