相关论文: Physically-Based Simulation of Automotive LiDAR

Modern LiDAR sensors find increasing use in safety-critical applications. Therefore, highly accurate modeling of the system's behavior under demanding environmental conditions is necessary. In this paper, we present a modular structure to…

3D flash LIDAR is an alternative to the traditional scanning LIDAR systems, promising precise depth imaging in a compact form factor, and free of moving parts, for applications such as self-driving cars, robotics and augmented reality (AR).…

We propose a computational model for shape, illumination and albedo inference in a pulsed time-of-flight (TOF) camera. In contrast to TOF cameras based on phase modulation, our camera enables general exposure profiles. This results in added…

LiDAR (Light Detection and Ranging) is a useful sensing technique and an important source of data for autonomous vehicles (AVs). In this publication we present the results of a study undertaken to understand the impact of automotive paint…

Long-distance depth imaging holds great promise for applications such as autonomous driving and robotics. Direct time-of-flight (dToF) imaging offers high-precision, long-distance depth sensing, yet demands ultra-short pulse light sources…

Optical imaging through diffusive, visually-opaque barriers, and around corners is an important challenge in many fields, ranging from defense to medical applications. Recently, novel techniques that combine time-of-flight (TOF)…

Accurate LiDAR simulation is crucial for autonomous driving, especially under adverse weather conditions. Existing methods struggle to capture the complex interactions between LiDAR signals and atmospheric phenomena, leading to unrealistic…

Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…

This paper aims to introduce a method for simulating with a real time performance the automotive LIDAR disturbance by dust clouds caused by natural phenomena, mechanical or man-made processes like a traveling vehicle. In this study, we are…

3D imaging is increasingly impacting areas such as space, defense, automation, medical and automotive industries. The most well-known optical 3D imaging systems are LIDAR systems that rely on Time of Flight (ToF) measurement. The depth…

Passive Time-of-Flight (ToF) imaging can be enabled by optical wireless communication (OWC). The lighting infrastructure is the backbone of emerging light-based wireless communication. To this end, communication sources are used as…

Simulating realistic sensors is a challenging part in data generation for autonomous systems, often involving carefully handcrafted sensor design, scene properties, and physics modeling. To alleviate this, we introduce a pipeline for…

Time-of-flight (ToF) sensors provide an imaging modality fueling diverse applications, including LiDAR in autonomous driving, robotics, and augmented reality. Conventional ToF imaging methods estimate the depth by sending pulses of light…

In recent years, achieving full autonomy in driving has emerged as a paramount objective for both the industry and academia. Among various perception technologies, Lidar (Light detection and ranging) stands out for its high-precision and…

In the past ten years, the use of 3D Time-of-Flight (ToF) LiDARs in mobile robotics has grown rapidly. Based on our accumulation of relevant research, this article systematically reviews and analyzes the use 3D ToF LiDARs in research and…

We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one dimensional temporal waveform which encodes…

We introduce Doppler time-of-flight (D-ToF) rendering, an extension of ToF rendering for dynamic scenes, with applications in simulating D-ToF cameras. D-ToF cameras use high-frequency modulation of illumination and exposure, and measure…

Designing and validating sensor applications and algorithms in simulation is an important step in the modern development process. Furthermore, modern open-source multi-sensor simulation frameworks are moving towards the usage of video-game…

Diffuse direct time-of-flight LiDARs report per-pixel depth histograms formed by aggregating photon returns over a wide instantaneous field of view, violating the single-ray assumption behind standard LiDAR-RGB calibration. We present a…

Lidar with direct time-of-flight (dToF) technology based on single-photon avalanche diode detectors (SPAD) has been widely adopted in various applications. However, a comprehensive theoretical understanding of its fundamental ranging…