Development and Validation of LiDAR Sensor Simulators Based on Parallel Raycasting
Three-dimensional (3D) imaging technologies have been increasingly explored in academia and the industrial sector, especially the ones yielding point clouds. However, obtaining these data can still be expensive and time-consuming, reducing the efficiency of procedures dependent on large datasets, su...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2020-12-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/20/24/7186 |
| _version_ | 1827700045869219840 |
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| author | Guilherme Ferreira Gusmão Carlos Roberto Hall Barbosa Alberto Barbosa Raposo |
| author_facet | Guilherme Ferreira Gusmão Carlos Roberto Hall Barbosa Alberto Barbosa Raposo |
| author_sort | Guilherme Ferreira Gusmão |
| collection | DOAJ |
| description | Three-dimensional (3D) imaging technologies have been increasingly explored in academia and the industrial sector, especially the ones yielding point clouds. However, obtaining these data can still be expensive and time-consuming, reducing the efficiency of procedures dependent on large datasets, such as the generation of data for machine learning training, forest canopy calculation, and subsea survey. A trending solution is developing simulators for imaging systems, performing the virtual scanning of the digital world, and generating synthetic point clouds from the targets. This work presents a guideline for the development of modular Light Detection and Ranging (LiDAR) system simulators based on parallel raycasting algorithms, with its sensor modeled by metrological parameters and error models. A procedure for calibrating the sensor is also presented, based on comparing with the measurements made by a commercial LiDAR sensor. The sensor simulator developed as a case study resulted in a robust generation of synthetic point clouds in different scenarios, enabling the creation of datasets for use in concept tests, combining real and virtual data, among other applications. |
| first_indexed | 2024-03-10T14:03:56Z |
| format | Article |
| id | doaj.art-6ef1b0821a054ba9ba0c616c3d7f0c60 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-10T14:03:56Z |
| publishDate | 2020-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6ef1b0821a054ba9ba0c616c3d7f0c602023-11-21T00:53:03ZengMDPI AGSensors1424-82202020-12-012024718610.3390/s20247186Development and Validation of LiDAR Sensor Simulators Based on Parallel RaycastingGuilherme Ferreira Gusmão0Carlos Roberto Hall Barbosa1Alberto Barbosa Raposo2Postgraduate Programme in Metrology, Pontifical Catholic University of Rio de Janeiro, Rua Marquês de São Vicente, 225, Gávea, Rio de Janeiro 22451-900, BrazilPostgraduate Programme in Metrology, Pontifical Catholic University of Rio de Janeiro, Rua Marquês de São Vicente, 225, Gávea, Rio de Janeiro 22451-900, BrazilTecgraf Institute, Pontifical Catholic University of Rio de Janeiro, Rua Marquês de São Vicente, 225, Gávea, Rio de Janeiro 22451-900, BrazilThree-dimensional (3D) imaging technologies have been increasingly explored in academia and the industrial sector, especially the ones yielding point clouds. However, obtaining these data can still be expensive and time-consuming, reducing the efficiency of procedures dependent on large datasets, such as the generation of data for machine learning training, forest canopy calculation, and subsea survey. A trending solution is developing simulators for imaging systems, performing the virtual scanning of the digital world, and generating synthetic point clouds from the targets. This work presents a guideline for the development of modular Light Detection and Ranging (LiDAR) system simulators based on parallel raycasting algorithms, with its sensor modeled by metrological parameters and error models. A procedure for calibrating the sensor is also presented, based on comparing with the measurements made by a commercial LiDAR sensor. The sensor simulator developed as a case study resulted in a robust generation of synthetic point clouds in different scenarios, enabling the creation of datasets for use in concept tests, combining real and virtual data, among other applications.https://www.mdpi.com/1424-8220/20/24/7186sensor simulatorLiDARsynthetic point cloudremote sensingraycasting |
| spellingShingle | Guilherme Ferreira Gusmão Carlos Roberto Hall Barbosa Alberto Barbosa Raposo Development and Validation of LiDAR Sensor Simulators Based on Parallel Raycasting Sensors sensor simulator LiDAR synthetic point cloud remote sensing raycasting |
| title | Development and Validation of LiDAR Sensor Simulators Based on Parallel Raycasting |
| title_full | Development and Validation of LiDAR Sensor Simulators Based on Parallel Raycasting |
| title_fullStr | Development and Validation of LiDAR Sensor Simulators Based on Parallel Raycasting |
| title_full_unstemmed | Development and Validation of LiDAR Sensor Simulators Based on Parallel Raycasting |
| title_short | Development and Validation of LiDAR Sensor Simulators Based on Parallel Raycasting |
| title_sort | development and validation of lidar sensor simulators based on parallel raycasting |
| topic | sensor simulator LiDAR synthetic point cloud remote sensing raycasting |
| url | https://www.mdpi.com/1424-8220/20/24/7186 |
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