Huang, Tengchao and Song, Shuang and Hu, Huosheng and Gao, Yunlong and Shao, Guifang and Zhu, Qingyuan (2024) A Hierarchical LiDAR Simulation Framework Incorporating Physical Attenuation Response in Autonomous Driving Scenarios. IEEE Transactions on Intelligent Transportation Systems, 25 (6). pp. 6200-6211. DOI https://doi.org/10.1109/tits.2023.3340676
Huang, Tengchao and Song, Shuang and Hu, Huosheng and Gao, Yunlong and Shao, Guifang and Zhu, Qingyuan (2024) A Hierarchical LiDAR Simulation Framework Incorporating Physical Attenuation Response in Autonomous Driving Scenarios. IEEE Transactions on Intelligent Transportation Systems, 25 (6). pp. 6200-6211. DOI https://doi.org/10.1109/tits.2023.3340676
Huang, Tengchao and Song, Shuang and Hu, Huosheng and Gao, Yunlong and Shao, Guifang and Zhu, Qingyuan (2024) A Hierarchical LiDAR Simulation Framework Incorporating Physical Attenuation Response in Autonomous Driving Scenarios. IEEE Transactions on Intelligent Transportation Systems, 25 (6). pp. 6200-6211. DOI https://doi.org/10.1109/tits.2023.3340676
Abstract
This paper presents a hierarchical LiDAR simulation framework to address the challenges of accurately simulating LiDAR data in autonomous driving scenarios. The framework utilizes a homology mapping approach to integrate LiDAR responses hierarchically at three levels: the instantaneous power response, environmental optical channel response, and target reflection response of LiDAR. This allows for the dynamic coupling of LiDAR geometric and physical models with varying environmental parameters. By integrating an array of interactions intrinsic to the LiDAR system and its external environment, the proposed model can provide high-fidelity LiDAR point cloud simulations. The effectiveness of the simulated point clouds has been validated through extensive experiments using actual LiDAR data and detection algorithms trained on existing datasets. The experimental results show that the proposed method has the potential to improve the realism of LiDAR simulations and the accumulation of challenging perception data.
Item Type: | Article |
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Uncontrolled Keywords: | LiDAR; physical attenuation response; simulated point cloud; simulation test; autonomous vehicles |
Divisions: | Faculty of Science and Health Faculty of Science and Health > Computer Science and Electronic Engineering, School of |
SWORD Depositor: | Unnamed user with email elements@essex.ac.uk |
Depositing User: | Unnamed user with email elements@essex.ac.uk |
Date Deposited: | 19 Jun 2024 11:09 |
Last Modified: | 19 Jun 2024 11:12 |
URI: | http://repository.essex.ac.uk/id/eprint/38277 |
Available files
Filename: IEEE Trans on ITS-2024.pdf