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http://dx.doi.org/10.7780/kjrs.2015.31.3.6

Development of a General Purpose Simulator for Evaluation of Vehicle LIDAR Sensors and its Application  

Im, Ljunghyeok (Department of Geoinformatics, University of Seoul)
Choi, Kyongah (Department of Geoinformatics, University of Seoul)
Jeong, Jihee (Department of Geoinformatics, University of Seoul)
Lee, Impyeong (Department of Geoinformatics, University of Seoul)
Publication Information
Korean Journal of Remote Sensing / v.31, no.3, 2015 , pp. 267-279 More about this Journal
Abstract
In the development of autonomous vehicles, the importance of LIDAR sensors becomes larger. For sensor selection or algorithm development, it is difficult to test expensive LIDAR sensors mounted on a vehicle under various driving environment. In this study, we developed a simulator that is generally applicable for various vehicle LIDAR sensors based on the generalized geometric modeling of the common processes associated with vehicle LIDAR sensors. By configuring this simulator with the specific sensors being widely used, we performed the data simulation and quality analysis. Also, we applied the simulation data to obstacle detection and evaluated the applicability of the selected sensor. The developed simulator enables various experiments and algorithm development in parallel with hardware implementation prior to the deployment and operation of a sensor.
Keywords
Autonomous Driving Vehicle; LIDAR; Simulation; Obstacle Detection;
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Times Cited By KSCI : 3  (Citation Analysis)
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