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Research on LiDAR Attenuation Model for Raining Environment
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Pengfei Guo, Xi Zhang, Yonghui Huang, Wangwang Zhu, Qi Jiang
Automobile Technology | 2023, (1) : 1 - 8
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Automobile Technology | 2023, (1): 1-8
Research on LiDAR Attenuation Model for Raining Environment
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Pengfei Guo, Xi Zhang, Yonghui Huang, Wangwang Zhu, Qi Jiang
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  • Shanghai Jiao Tong University, Shanghai 200240
Published: 2023-01-24 doi: 10.19620/j.cnki.1000-3703.20210906
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In order to solve the problem that existing LiDAR attenuation models rely on statistics to generate point cloud and lack of noise interpretation, this paper presents a LiDAR attenuation model for raining environment. Firstly, the LiDAR emission-reception model is established, and the spatial distribution of raindrops is simulated according to the raindrop size distribution model. Secondly, the light intensity change of the laser propagation process is obtained by coupling scattering model and noise model, and simulation imaging of point clouds is obtained. Finally, the image of point clouds in normal weather and raining weather is collected, to simulate and generate the attenuated point clouds for different rainfalls. The point clouds obtained from the attenuation model is compared with the point clouds image corresponding to actual raining weather. The results show that the presented model is superior to the existing models in each evaluation index, and effectively explains the attenuation effect of the raining environment on LiDAR.

Autonomous driving  /  LiDAR  /  Raining environment  /  Point cloud simulation  /  Attenuation model
Pengfei Guo, Xi Zhang, Yonghui Huang, Wangwang Zhu, Qi Jiang. Research on LiDAR Attenuation Model for Raining Environment[J]. Automobile Technology, 2023 , (1) : 1 -8 . DOI: 10.19620/j.cnki.1000-3703.20210906
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doi: 10.19620/j.cnki.1000-3703.20210906
  • Online Date：2025-12-07
  • Published：2023-01-24
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  • Revised：2021-10-14
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    Shanghai Jiao Tong University, Shanghai 200240
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表12种不同金属材料的力学参数
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小菇科 Mycenaceae 2 12 5.74 丝盖伞属 Inocybe 5 2.39
多孔菌科 Polyporaceae 8 14 6.70 蜡蘑属 Laccaria 5 2.39
红菇科 Russulaceae 3 23 11.00 小皮伞属 Marasmius 6 2.87
小菇属 Mycena 11 5.26
光柄菇属 Pluteus 5 2.39
红菇属 Russula 17 8.13
栓菌属 Trametes 5 2.39
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