Improving laser scanner simulation: multi echo, material-dependent sensor noise, intensity, etc.

asked 2018-07-25 07:17:24 -0500

wentz gravatar image

updated 2018-08-27 11:42:47 -0500

I want to improve the simulation of ray sensors / gpu ray sensors. Main topics will be:

  • multi echo
  • material-dependent sensor effects (like scan point shifting on reflective materials)
  • intensity
  • effects caused by particles (like snow, fog, ..)

The idea is to create a lookup table and store informations like reflectivity, absorption, transmission for the material. Every model-material needs to store the material information as a string (How could i do that?). In the ray sensor I would read these string (getting the model from the collision of the ray?) and get the infos from the table. Then based on these infos add individual noise.

Does this make sense? Or is there a better way? Anybody knows if someone already did something in this direction? I would appreciate to get some infos and hints.

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I also have this question: http://answers.gazebosim.org/question/20200/how-does-ogre-raytracing-for-gpu_laser-work/ where I ask for help with the rendering interface and ogre.

wentz gravatar imagewentz ( 2018-08-27 11:43:52 -0500 )edit