Real-time LIDAR Simulation via Pre-calculated Intensity Databases
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Solution Overview
Problem
Current methods for simulating LIDAR sensor interactions with complex environments, particularly those involving small objects, are computationally intensive and cannot be performed in real-time, making it challenging to test safety-critical systems effectively.
Innovation Solution
A device that uses a monolithic 3D model of a complex of small objects, simulated through a surface enveloping the complex, combined with a sensor simulation that includes a raycasting routine and a database of intensity distributions to generate realistic sensor signals, allowing for real-time simulation of laser beam interactions with these environments.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If high-resolution 3D modeling with detailed small objects is used to simulate laser beam interactions, then measurement precision and realism of sensor signals are improved, but device complexity and computational intensity increase significantly
Solution Approach 1:
The patent extracts the essential interaction characteristics of laser beams with small objects by separating the simulation into two parts: a simplified monolithic 3D model that captures the overall geometry and a database of pre-calculated intensity distributions that captures the optical interaction physics. This extraction allows the complex optical calculations to be performed once during database generation and then queried efficiently during real-time simulation, resolving the contradiction between precision and complexity.
Solution Approach 2:
The patent performs preliminary calculations of laser beam intensity distributions for various angles of incidence and penetration depths during an offline phase. These pre-calculated intensity distributions are stored in a database and then queried during real-time simulation. This preliminary action shifts the computational burden from runtime to setup time, enabling real-time simulation with high measurement precision without the complexity of detailed 3D modeling during execution.
2Measurement precision
If raycasting with many thousands of rays is used to resolve extended laser beam, then measurement precision is improved, but productivity and simulation speed deteriorate
Solution Approach 1:
The patent performs the computationally intensive raycasting calculations in advance during an offline phase, generating a database of intensity distributions for various geometric configurations. During real-time simulation, the system simply queries this pre-computed database based on the current scene geometry and laser beam parameters. This preliminary action eliminates the need for thousands of rays during runtime, dramatically improving simulation speed while maintaining measurement precision through the pre-calculated intensity data.
Solution Approach 2:
The patent creates a simplified monolithic 3D model that copies the essential geometric characteristics of the complex small objects without rendering individual detailed structures. This simplified model is used during simulation to quickly determine geometric relationships, while the optical interaction details are copied from the pre-calculated intensity distribution database. This copying approach maintains measurement precision while reducing the computational load during simulation execution.
3Ease of operation
If conventional raycasting is used for simulation, then ease of operation is maintained, but productivity and real-time simulation capability deteriorate
Solution Approach 1:
The patent maintains ease of operation by using a simplified monolithic 3D model that is easy to create and manipulate, while performing the computationally intensive optical calculations in advance during database generation. During real-time simulation, the system simply queries pre-computed intensity distributions from the database, maintaining operational simplicity while achieving real-time simulation capability. The complexity is shifted from runtime to setup time.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables realistic and efficient simulation of multiple reflections from complex environments, facilitating hard real-time testing of LIDAR systems without the need for high-resolution 3D modeling, thus supporting the development and validation of control systems for automated vehicles.
Implementation Method 1
LIDAR sensors (LIDAR = Light Detection and Ranging) are sensors that scan the environment using a short-wavelength light signal
Implementation Method 2
By detecting the reflection of the light signal and measuring its round-trip time, a LIDAR sensor can create a high-resolution, three-dimensional image of its surroundings
Implementation Method 3
calculate a Euclidean distance of the sensor from the point of impact
Implementation Method 4
A laser beam that strikes a complex of small objects will therefore penetrate the complex and, due to multiple collisions with different small objects, lose intensity with increasing penetration depth
Data Source
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AI summary
A device for the real-time simulation of laser beam scanning of a complex of small objects, such as a grain field, comprises a virtual environment with a monolithic 3D model of the complex and a sensor simulation for simulating a sensor for distance measurement using a laser beam. The sensor simulation includes a raycasting routine for simulating a laser beam and a noise reduction routine. The noise reduction routine is designed to determine the angle of incidence of the laser beam on a surface of the 3D model and to select an intensity distribution corresponding to the determined angle of incidence from a database containing a multitude of intensity distributions. From each intensity distribution, the intensity component of a reflection of the laser beam can be read out as a function of the penetration depth of the laser beam into the complex of small objects.The noise reduction routine is designed to calculate a noisy distance measurement, taking into account the selected intensity distribution, in order to simulate a multitude of reflections of the laser beam on a multitude of small objects, for example ears of grain in a grain field.