高逼真激光雷达场景建模与分析

Laser radar imaging model for high-fidelity simulation and its analysis

为了提高激光雷达场景的仿真逼真度,采用光线跟踪的方法构建了以激光成像模型为基础的激光成像模拟仿真系统.结合激光散射定律,对计算机图形学中基本光照模型进行了一系列改进,得到了简化的用于高真实感场景仿真的激光成像模型,具体的改进如下:1加入激光光源的直接反射分量;2将多光源光亮度模型改变为多次反射的功率模型;3在模型中引入探测器噪声项.对典型场景进行了激光雷达场景成像计算,用采集到的激光雷达图像数据进行对比分析.仿真结果表明,模拟结果与实采图像在基本特征上是相似的;定量分析结果表明,模拟图像与实采图像在主要特征上是相符的.

In order to improve the fidelity of laser imaging simulation, the ray tracing method is used to construct a laser radar system which can get the synthetic laser radar images of 3D scenes. By using the laser scattering law, the illumination model widely used in computer graphic is modeled into a laser radar imaging model for high-fidelity simulation. The improvements of the model are follows： （1） adding the direct reflection term, （2） changing the multiple light source model in luminance into the multiple reflection model in power, and （3） introducing the detector noise into the model. Laser radar images are calculated for a typical 3D scene. A comparison of the calculated results with the real laser radar images is made, which shows that the calculated result is similar to the one received by the laser radar system. And quantitative analysis shows that there also exists a difference,with the reasons are analyzed.