论文标题
实时引擎中的物理激光雷达模拟
Physical LiDAR Simulation in Real-Time Engine
论文作者
论文摘要
在模拟中设计和验证传感器应用程序和算法是现代开发过程中的重要一步。此外，现代的开源多传感器仿真框架正在朝着视频游戏引擎（例如虚幻引擎）的使用。在这种实时软件中，对激光雷达等传感器的仿真可能很难。在本文中，我们根据其物理特性和与环境的相互作用进行了GPU加速模拟。我们根据传感器的性质以及光束撞击表面的表面材料和射击角度提供了深度和强度数据的产生。它针对真实的LiDar传感器进行了验证，并证明是准确和精确的，尽管高度取决于用于材料特性的光谱数据。
Designing and validating sensor applications and algorithms in simulation is an important step in the modern development process. Furthermore, modern open-source multi-sensor simulation frameworks are moving towards the usage of video-game engines such as the Unreal Engine. Simulation of a sensor such as a LiDAR can prove to be difficult in such real-time software. In this paper we present a GPU-accelerated simulation of LiDAR based on its physical properties and interaction with the environment. We provide a generation of the depth and intensity data based on the properties of the sensor as well as the surface material and incidence angle at which the light beams hit the surface. It is validated against a real LiDAR sensor and shown to be accurate and precise although highly depended on the spectral data used for the material properties.
