MR-LiDAR: A Multi-Resolution Roadside LiDAR Benchmark for Perception Diagnostics and Deployment Guidance
MR-LiDAR is a controlled benchmark testing four different LiDAR configurations (16 to 128 beams) on dynamic targets like cars and pedestrians under varied conditions. The study found that beam count alone isn't enough; beam distribution, target distance, and object type significantly impact perception. It establishes a minimal-sufficient configuration matrix to guide roadside sensor selection.