面向降雨环境的激光雷达衰减模型研究

Research on LiDAR Attenuation Model for Raining Environment

针对现有激光雷达衰减模型依赖统计生成点云、缺乏噪点解释性等问题,提出了一种面向降雨环境的激光雷达衰减模型。首先,建立激光雷达发射-接收模型,并根据雨滴尺寸分布模型模拟获得雨滴空间分布数据;其次,耦合散射模型与噪点模型,获得激光传播过程的光强变化,得到点云的仿真图像;最后,采集正常天气和降雨天气下的点云图像,仿真生成不同降雨量下的衰减点云。将衰减模型获得的点云与对应实际降雨天气点云图像进行对比,结果表明:所提出的模型在各评价指标上明显优于现有模型,有效解释了降雨过程对激光雷达产生的衰减影响。

In order to solve the problem that existing LiDAR attenuation models rely on statistics to generate point cloud and lack of noise interpretation, this paper presents a LiDAR attenuation model for raining environment. Firstly, the LiDAR emission-reception model is established, and the spatial distribution of raindrops is simulated according to the raindrop size distribution model. Secondly, the light intensity change of the laser propagation process is obtained by coupling scattering model and noise model, and simulation imaging of point clouds is obtained. Finally, the image of point clouds in normal weather and raining weather is collected, to simulate and generate the attenuated point clouds for different rainfalls. The point clouds obtained from the attenuation model is compared with the point clouds image corresponding to actual raining weather. The results show that the presented model is superior to the existing models in each evaluation index, and effectively explains the attenuation effect of the raining environment on LiDAR.