The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2020
Session ID : 1P2-I03
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3D Lidar Intensity Simulation for Mobile Robot Simulator
*Tomoaki YOSHIDAYoshitaka HARA
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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.

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© 2020 The Japan Society of Mechanical Engineers
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