Comparison of 3D Sensing Devices

This paper compares two 3D sensing devices – a stereo camera and a Lidar. Both devices offer different modes, which perform differently, and have strengths and weaknesses. We have conducted a series of tests to assess the usability of these devices in our future research. The first round of tests focused on the interior performance and compared the various modes available. The tests were performed in good and bad conditions, showing best and worst-case scenarios. The second test round was performed outside with natural sunlight and more distant objects. The stereo camera was very susceptible to changes in light intensity and performed worse in the interior tests, but better in the exterior tests. The Lidar struggled with dark surfaces at closer ranges and during the exterior testing due to objects outside its range.