In recent years, light detection and ranging (LiDAR) technology has gained huge popularity in various applications such as navigation, robotics, remote sensing, and advanced driving assistance systems (ADAS). This popularity is mainly due to the improvements in LiDAR performance in terms of range detection, accuracy, power consumption, as well as physical features such as dimension and weight. Although a number of literatures on LiDAR technology have been published earlier, not many has been reported on the state-of-the-art LiDAR scanning mechanisms. The aim of this article is to review the scanning mechanisms employed in LiDAR technology from past research works to the current commercial products. The review highlights four commonly used mechanisms in LiDAR systems: Opto-mechanical, electromechanical, micro-electromechanical systems (MEMS), and solid-state scanning. The study reveals that electro-mechanical scanning is the most prominent technology in use today. The commercially available 1D time of flight (TOF) LiDAR instrument is currently the most attractive option for conversion from 1D to 3D LiDAR system, provided that low scanning rate is not an issue. As for applications with low size, weight, and power (SWaP) requirements, MEMS scanning is found to be the better alternative. MEMS scanning is by far the more matured technology compared to solid-state scanning and is currently given great emphasis to increase its robustness for fulfilling the requirements of ADAS applications. Finally, solid-state LiDAR systems are expected to fill in the gap in ADAS applications despite the low technology readiness in comparison to MEMS scanners. However, since solid-state scanning is believed to have superior robustness, field of view (FOV), and scanning rate potential, great efforts are given by both academics and industries to further develop this technology.

The oil yield, measured in oil extraction rate per hectare in the palm oil industry, is directly affected by the ripening levels of the oil palm fresh fruit bunches at the point of harvesting. A rapid, non-invasive and reliable method in assessing the maturity level of oil palm harvests will enable harvesting at an optimum time to increase oil yield. This study shows the potential of using Raman spectroscopy to assess the ripeness level of oil palm fruitlets. By characterizing the carotene components as useful ripeness features, an automated ripeness classification model has been created using machine learning. A total of 46 oil palm fruit spectra consisting of 3 ripeness categories; under ripe, ripe, and over ripe, were analyzed in this work. The extracted features were tested with 19 classification techniques to classify the oil palm fruits into the three ripeness categories. The Raman peak averaging at 1515 cm−1 is shown to be a significant molecular fingerprint for carotene levels, which can serve as a ripeness indicator in oil palm fruits. Further signal analysis on the Raman peak reveals 4 significant sub bands found to be lycopene (ν1a), β-carotene (ν1b), lutein (ν1c) and neoxanthin (ν1d) which originate from the C=C stretching vibration of carotenoid molecules found in the peel of the oil palm fruit. The fine KNN classifier is found to provide the highest overall accuracy of 100%. The classifier employs 6 features: peak intensities of bands ν1a to ν1d and peak positions of bands ν1c and ν1d as predictors. In conclusion, the Raman spectroscopy method has the potential to provide an accurate and effective way in determining the ripeness of oil palm fresh fruits.

The capacity of palm oil production is directly affected by the ripeness of the fresh fruit bunches (FFB) upon harvesting. Conventional harvesting standards rely on rigid harvesting scheduling as well as the number of fruitlets that have loosened from the bunch. Harvesting is usually done every 10 to 14 days, and an FFB is deemed ready to be harvested if there are around 5 to 10 empty sockets on the fruit bunch. Technology aided by imaging techniques relies heavily on the color of the fruit bunch, which is highly dependent on the surrounding light intensities. In this study, Raman spectroscopy is used for ripeness classification of oil palm fruits, based on the molecular assignments extracted from the Raman bands between 1240 cm−1 and 1360 cm−1. The Raman spectra of 52 oil palm fruit samples which contain the fingerprints of different organic compounds were collected. Signal processing was applied to perform baseline correction and to reduce background noises. Characteristic data of the organic compounds were extracted through deconvolution and curve fitting processes. Subsequently, a correlation study between organic compounds was developed and eight hidden Raman peaks including protein, beta carotene, carotene, lipid, guanine/cytosine, chlorophyll-a, and tryptophan were successfully located. Through ANOVA statistical analysis, a total of six peak intensities from proteins through Amide III (β-sheet), beta-carotene, carotene, lipid, guanine/cytosine, and carotene and one peak location from lipid were found to be significant. An automated oil palm fruit ripeness classification system deployed with artificial neural network (ANN) using the seven signification features showed an overall performance of 97.9% accuracy. An efficient and accurate ripeness classification model which uses seven significant Raman peak features from the correlation analysis between organic compounds was successfully developed.

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