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Method for efficiently simulating laser radar in Unity

A lidar and high-efficiency technology, applied in 3D image processing, image data processing, special data processing applications, etc., can solve the problems of increasing performance pressure, unable to eliminate time loss, interrupting the rendering process, etc., to achieve high cost efficiency Effect

Inactive Publication Date: 2019-07-05
AUTOCORE INTELLIGENT TECH NANJING CO LTD
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Problems solved by technology

[0006] 1) The maximum viewing angle of the camera cannot exceed 180 degrees, while the scanning range of the mechanical lidar is 360 degrees. In this way, within one frame, the complete lidar data cannot be obtained by only rendering once. Intra-frame rendering of multiple images significantly increases performance pressure
[0007] 2) The depth data is located in the video memory, and the data needs to be read from the video memory to the memory after each rendering. This read-back behavior not only interrupts the normal rendering process, but also has an irreversible time loss

Method used

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  • Method for efficiently simulating laser radar in Unity
  • Method for efficiently simulating laser radar in Unity
  • Method for efficiently simulating laser radar in Unity

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Embodiment

[0031] As a general-purpose graphics engine, Unity integrates a third-party physics engine, which can meet the needs of physics and image simulation in the field of autonomous driving. In recent years, Unity has further improved its performance through optimization patches for data flow computing. For example, in the Unity 2018 version, some new functions and patches have been added, mainly including: 1) Collections, which creates a native container in C# similar to the array structure in C++, arranges valid data continuously and closely, and makes full use of the CPU in parallel computing The cache hit rate improves local code execution speed. The following methods will use NativeArray, NativeList, NativeQueue, NativeHashMaps, NativeMutiHashMaps, etc. 2) Jobs, an independently encapsulated code block structure. By pre-designing the data arrangement, the code in it can be processed on multiple threads in parallel, which is similar to OpenMP. The following methods will use th...

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Abstract

The invention belongs to the technical field of automatic driving and data processing, and relates to a method for efficiently simulating a laser radar in Unity, which comprises the steps of initializing the laser radar data, updating the ray instructions, carrying out the batch ray detection, screening the effective ray, converting and outputting data and the like. The method provides a solutionwith short calculation time and high customizable degree for the laser radar simulation in the field of automatic driving simulation.

Description

technical field [0001] The invention relates to a method for computer simulation of laser radar, in particular to a method for efficiently simulating laser radar in Unity, belonging to the technical field of automatic driving and data processing. Background technique [0002] Lidar is a device that emits a laser beam in a specified direction and detects the returned beam to obtain data such as the target position. The commonly used laser radar in the field of automatic driving is the multi-wire mechanical rotary laser radar. Due to its precise positioning, low algorithm implementation difficulty, and many advantages such as not being affected by day and night, it has become one of the core positioning and detection equipment for automatic driving. [0003] In the development process of self-driving cars, it is necessary to continuously verify and test the unmanned driving technology under various driving conditions, so as to ensure that the safety of unmanned driving technol...

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Application Information

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IPC IPC(8): G06F17/50G06T15/00
CPCG06T15/005G06F30/20
Inventor 周路翔陈诚张旸
Owner AUTOCORE INTELLIGENT TECH NANJING CO LTD
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