Simulate raytracing and multipath in Gazebo

asked 2021-01-18 19:36:24 -0500

jianwu gravatar image

Recently, I struggled to simulate the NLOS( non light of sight) effect on radio transmission on gazebo. My initial idea is to borrow the method of GPURaySensor and RaySensor with CPU in gazebo. Some work should be done cause these two sensors just consider the sight in front of the first obstacle, while NLOS transmission simulation considers all possible paths between two points, through reflection.

When I dive into the code of gazebo, I can't find a appropriate perspective to study these approaches, since I don't have much experience on render technology. So any one can tell me the mechanism of GPURaySensor and RaySensor so I can make my own ray-trace-base NLOS simulation?

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