I would like to add lidar sensor model to my vehicle dynamic algorithm. I can model lidar time delay by using quantization techniques. To be more realistic, it is essential to add physics through mathematical equations which govern physical laws. Can someone recommend me some literature or their work which starts from simple equations of lidar to more complex examples?
It is not clear which property you are trying to model or for what purpose; assuming it is the sensor's output as a function of the input, then you will need to review the sensor's specifications or characterize the sensor if it is internally developed: Linearity, Hysteresis, Drift, effect of temperature / humidity, offset, random error / noise, etc. Once you have these values, you can then create a model that will simulate the overall performance. The model can be algorithmic or based on a unified equation.
In addition, models can be empirical or theoretical; which one works for you depends on the purpose, e.g. if you are trying to predict the sensor performance before you design / manufacture the sensor then you'll need to rely on theory. If the sensor is in your hands, an empirical model can be a lot more accurate and less time consuming to create.
Thank you Thomas. The main idea is to link this model with rest of the car models. The input to our system will be position of target vehicle relative to subject vehicle position and total processing time (time delay, Uncertainty). Will you recommend some literature which explain these values for lidar (Hysteresis, Linearity etc). I am working for modeling next generation of systems which means I am trying to predict sensor performance before design.
A physics based vehicle simulation package I've used is Prescan that has lidar models (with Simulink implementations). It also contains a number of other models (radar, camera), although some are more mature than others, but you can create your own Simulink versions. There may be other models found in VANE (Virtual Autonomous Navigation Environment) whose models can be used in ANVEL Academic Edition (haven't used it as I am Linux based). Another posibility is to chat with these folks: http://home.iitk.ac.in/~blohani/Limulator/Lim_index.html
Depends on what you really want to have, but maybe you can find some help, at least inspiration, there :
Walklate, P.J., Cross, J.V., Richardson, G.M., Murray, R.A., Baker, D.E., 2002. IT—Information Technology and the Human Interface: Comparison of Different Spray Volume Deposition Models Using LIDAR Measurements of Apple Orchards. Biosyst. Eng. 82, 253–267.
Do you want to use lidar's intensity mesurement, in addition to the range measurement?
Your will find that the intensity will be very useful in some applications, such as object identification and following.
Here is some of my work related to LIDAR simulations, I think the basic principles are formulated there. But as far as I can see, you most propably need not to model all the details, but rather a selection of the most relevant ones to you work. And ofcource adapt your sensor geometry to that you want.
Kukko, A. and J. Hyyppä, 2009. Small-footprint Laser Scanning Simulator for System Validation, Error Assessment and Algorithm Development. Photogrammetric Engineering & Remote Sensing 75(10): 1177-1189.
Thanks everyone.
Antero: The link you have attached is broken.
Jack: I am interested in range measurement. Currently intensity measurement is out of scope.
Thank Graham and Alexandre! Those resources are really helpful..
- Badges
- Science topic
- Similar topics
- Methodology
- Sensors