3D Lidar Intensity Simulation for Mobile Robot Simulator

Abstract

Generating realistic data is essential function of Lidar simulation on a mobile robot simulator. However, no opensource mobile robot simulater simulates Lidar intensity. In this paper we propose a new Lidar intensity model based on a Lidar range equation and microfacet models. This model enables the Lidar simulater to simulate reflection and scattering on target objects even with retroreflective materials.