CAJ | 학술논문

基于激光雷达成像的基本原理，结合目标表面的空间反射特性，在图形处理器架构下，借助其强大的并行计算能力，建立了激光雷达场景动态仿真模型，实现了不同入射、观测位置条件下目标表面空间辐射亮度分布的计算。针对典型场景进行了模拟实验，并将实验结果与实际激光雷达系统采集到的图像数据进行了对比分析。实验结果表明，模拟结果与实测图像数据在基本特征上是相似的；定量分析结果表明，模拟图像与实际图像在主要特征上是相符的。
기우격광뢰체성상적기본원리，결합목표표면적공간반사특성，재도형처리기가구하，차조기강대적병행계산능력，건립료격광뢰체장경동태방진모형，실현료불동입사、관측위치조건하목표표면공간복사량도분포적계산。침대전형장경진행료모의실험，병장실험결과여실제격광뢰체계통채집도적도상수거진행료대비분석。실험결과표명，모의결과여실측도상수거재기본특정상시상사적；정량분석결과표명，모의도상여실제도상재주요특정상시상부적。
A laser scattering scene model capable of the real-time rendering of the laser radar imaging is proposed.It is based on the basic theory of laser radar imaging,combining true performance of the surface characteristics.Using the framework and taking advantage of powerful parallel computing ability of the GPU(Graphic Processing Unit),the radiance distribution under different laser incident angles,viewing angles and locations is implemented.A simulated calculation of a laser scattering scene image under a typical 3D scene is conducted.A comparison of the calculated results with the real lidar image is made, which shows that the laser scattering scene image obtained by the laser scattering scene model is similar to the one received by the lidar system.Quantitative analysis shows that there also exists difference,with the reasons analyzed.