A Study on Virtual LiDAR Sensor Simulation Method for Autonomous Driving Simulator

초록

This paper presents an interim result of a study on virtual LiDAR sensor modeling for autonomous driving simulators. Based on a basic knowledge on the characteristics of pulsed light beams, which may be dependent on the color and material of the object to be reflected, a simple model of equation for the intensity is used for modeling the reflected power of beams of LiDAR. Experiments using a real LiDAR and a virtual one to distinguish colors reveals that the accessibility to colors of the objects is essential for modeling of LiDAR sensors in autonomous driving simulators.