用于激光雷达成像仿真的动态场景模型

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．

Study of the dynamic scenes model for laser imaging radar simulation

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.