Figure 4
Three electronic components are depicted side-by-side on a white background. On the left is the cylindrical Velodyne VLP-16 LiDAR sensor with a metallic silver top and bottom and a black, glossy band around its middle. The front of the sensor displays the label “Velodyne LiDAR” in black text. In the center is the Xsense IMU, a compact orange rectangular sensor with a smooth, slanted top surface. Attached to the side is a circular metallic multi-pin connector with a black threaded collar. The module sits on a black rectangular mounting base with rounded corners and four screw holes, one at each corner. On the right is a square red printed circuit board labeled “G P S R T K 2” at the bottom right corner and “u-blox” at the center module. The board includes a central white G P S module marked “u blox Z E D-F 9 P”.Velodyne VLP-16 LIDAR sensor (left), XSense MTI-100 IMU (centre), Sparkfun GPS-RTK2 Board – ZED F9P (right). https://www.aeroexpo.online/de/prod/velodyne/product-176220-32079.html, https://www.mouser.de/ProductDetail/Movella-Xsens/MTI-100-2A8G4?qs=B6kkDfuK7%2FD4DcRKGaHttg%3D%3D, https://www.sparkfun.com/sparkfun-gps-rtk2-board-zed-f9p-qwiic-gps-15136.html. Source: Authors' own work