vlp-16 lidars of perception in apollo5.0: any introduction to this?

[hzdsdhr]

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Hi all, by reading the docs, it seems that in apollo 5.0, there are four lidars: one 128 lidar, three vlp-16 which one of them installed in front bumper, the other two installed at rear bumper. But I can't find any introductions to this and I really curious what the three vlp-16 lidars are for since one 128 lidar should be able to do all the obstacle detection work. Are they for blind spot area of 128 lidar? Can we only just use vlp-16 lidars for obstacle detection instead of using 128 lidar? And what's the algorithm for these three lidars(I guess the multi-lidar fusion part) is and what's the difference between the algorithm between 128 lidar and vlp-16 lidar? Can someone share any info ? Thank you!

[natashadsouza]

@hzdsdhr please find all our Lidar documentation here

[hzdsdhr]

@natashadsouza Thank you for replying! But I'm not asking the hardware info, I want to know more about the vlp-16 role in apollo perception and its algorithm in apollo.