リアルタイムエンジンにおける物理ベースLiDARシミュレーション
Physical LiDAR Simulation in Real-Time Engine
ゲームエンジン上でLiDARの物理特性と環境との相互作用をGPUで高速にシミュレーションし、実機LiDARと比較して精度を検証した。
著者: Wouter Jansen, Nico Huebel, Jan Steckel
分類: cs.RO, eess.SP
原文アブストラクト
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.
