移動ロボットシミュレータにおける3D Lidarの受光強度シミュレーション

抄録

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.