This paper proposes a novel ray-tracing-based approach for simulating the motion distortion effect on LiDAR in real-time, in a driving scenario that includes both static and dynamic objects. The most commonly used method at present updates the acceleration structure with real-time dynamic object poses during laser detection, followed by ray-tracing. However, the computational complexity of this method presents a significant challenge in meeting the critical real-time simulation requirements, which are needed for effective LiDAR simulation on a hardware-in-the-loop testbench to investigate the motion distortion effect on LiDAR-based automated driving systems. To overcome this issue, our method avoids the multiple acceleration structure updates and instead retraces each ray with a corrected origin pose of the ray based on the relative pose between the LiDAR sensor and the hit object during laser detection. The simulation results demonstrate that our approach offers a good approximation of the reference data. Real-time performance tests show that our approach is significantly faster than the baseline method, and is capable of providing real-time computation.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Real-Time Ray-Tracing-Based Simulation of Motion Distortion Effect on LiDAR


    Contributors:


    Publication date :

    2023-09-24


    Size :

    6033653 byte





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



    Real-Time Simulation of Precipitation Effects on LiDAR

    Chen, Haopeng / Müler, Steffen | Springer Verlag | 2024



    Real-Time Motion Classification of LiDAR Point Detection for Automated Vehicles

    Kim, Chansoo / Jo, Kichun / Sunwoo, Myoungho et al. | SAE Technical Papers | 2020


    Real-Time Motion Classification of LiDAR Point Detection for Automated Vehicles

    Jo, Kichun / Kim, Chansoo / Cho, Sungjin et al. | British Library Conference Proceedings | 2020


    Autonomous real time requirements tracing

    Plattsmier, George / Stetson, Howard | IEEE | 2014