虚拟二维激光雷达成像积分算法

A Integral Algorithm of Imaging Virtual 2D Lidar

摘要:

虚拟二维激光雷达是激光雷达扩展应用的组成部分,可以结合3D场景点云特征进行二维激光雷达扫描障碍物模拟；提出根据光线传导特征建立积分方程得到了在多障碍物场景下的激光雷达图生成的解析解,利用AutoCAD与Visual C#联合编程的方法进行了虚拟激光雷达的实现；最后,实验结果与真实二维激光雷达比对,虚拟激光雷达能从3D场景中准确提取物体的位置和距离信息。

Abstract:

Virtual two-dimensional (2D) lidar is part of the expansion of the lidar applications. 2D laser radar simulation process of detecting obstacles is based on point cloud features of 3D scene. The analytical solutions are obtained by integral equations based on light conduction characteristics of lidar map generated in a multi-barrier scene,then virtual two-dimensional (2D) lidar is achieved with the joint program of Visual C # and AutoCAD . Experimental results show that the virtual lidar can extract the location and distance information of objects from the 3D scene accurately comparing with real 2D lidar.