LiDAR Through Domes: Modelling, Simulation, and Correction of Refraction

Paper

Ranasinghe, Pasindu, Patra, Dibyayan, Banerjee, Bikram and Raval, Simit. 2025. "LiDAR Through Domes: Modelling, Simulation, and Correction of Refraction." 2025 IEEE International Conference on Imaging Systems and Techniques (IST). Strasbourg, France 15 - 17 Oct 2025 France. IEEE (Institute of Electrical and Electronics Engineers). https://doi.org/10.1109/ist66504.2025.11268399
Paper/Presentation Title

LiDAR Through Domes: Modelling, Simulation, and Correction of Refraction

Presentation TypePaper
AuthorsRanasinghe, Pasindu, Patra, Dibyayan, Banerjee, Bikram and Raval, Simit
Journal or Proceedings TitleProceedings of 2025 IEEE International Conference on Imaging Systems and Techniques (IST)
Number of Pages6
Year2025
PublisherIEEE (Institute of Electrical and Electronics Engineers)
Place of PublicationFrance
ISBN9798331597306
9798331597313
Digital Object Identifier (DOI)https://doi.org/10.1109/ist66504.2025.11268399
Web Address (URL) of Paperhttps://ieeexplore.ieee.org/document/11268399
Web Address (URL) of Conference Proceedingshttps://ieeexplore.ieee.org/xpl/conhome/11268367/proceeding
Conference/Event2025 IEEE International Conference on Imaging Systems and Techniques (IST)
Event Details
2025 IEEE International Conference on Imaging Systems and Techniques (IST)
Delivery
In person
Event Date
15 to end of 17 Oct 2025
Event Location
Strasbourg, France
Event Venue
Institut National Des Sciences Appliquees Strasbourg
Event Web Address (URL)
Abstract

LiDAR plays a vital role in precision sensing, but maintaining accuracy becomes challenging when the sensor is housed within a protective enclosure. Transparent covers, such as polycarbonate domes, introduce beam deflections due to refraction — a factor that is often overlooked — which leads to spatial distortion in the resulting point cloud. This study presents an analytical and experimental investigation of these distortions using a Livox Avia solid-state LiDAR enclosed in a 6 mm thick polycarbonate hemispherical dome. Beam deflections were modelled using Snell’s law in MATLAB, simulated in COMSOL Multiphysics, and validated through controlled indoor experiments conducted at distances ranging from 2 m to 5 m. Both MATLAB and COMSOL results showed consistent angular deviation patterns, reinforcing the reliability of the modelling framework. Even small angular deviations can cause dimensional errors of up to 1.4%, with errors increasing further at longer distances. To address this, an angle-based correction strategy is proposed. The approach uses precomputed correction factors to adjust measured points in post-processing, reducing dimensional errors by up to 42.8% at 5 m. The method is lightweight, computationally efficient, and can be directly integrated into existing LiDAR firmware. This enables precise 3D mapping despite enclosure-induced distortion, supporting the practical use of LiDAR in sealed or shielded configurations.

Keywordsenclosure distortion; LiDAR refraction; beam deflection; refraction correction
Article Publishing Charge (APC) FundingProject Funding
Contains Sensitive ContentDoes not contain sensitive content
ANZSRC Field of Research 2020400999. Electronics, sensors and digital hardware not elsewhere classified
401304. Photogrammetry and remote sensing
401905. Mining engineering
Public Notes

The accessible file is the accepted version of the paper. Please refer to the URL for the published version.

Byline AffiliationsUniversity of New South Wales
School of Science, Engineering & Digital Technologies- Surveying & Built Env
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