This LiDAR field test was performed at Haverford College pond on June 13, 2016. The results of this test were helpful, but did not fully meet the expectations prior to testing.
When the large orange buoy (～15 in. diameter) was placed on the water at a distance of 15-25 ft. from the LiDAR sensor, it could be seen on VeloView with three lines. When the smaller buoy (～6 in. diameter) was placed on the water, it was seen with only one line. Finally, a wooden post (10-15 ft. tall; 4 x 4 ft.) sticking out of the water at a distance 40-60 ft. away could be seen with three lines on VeloView.
Although the testing site was a sizeable pond, the LiDAR sensor picked up a lot of unwanted data from trees, bushes, and other objects surrounding the pond. This made it difficult to tell the difference between the objects trying to be detected and other objects. It was not yet determined whether a “nodding gimbal” will be used for the LiDAR sensor. It was determined that the programming for the sensor should be done taking into account no nodding before any type of nodding gimbal is introduced.