Research on Point Cloud Data Simulation Method of Rail Vehicle Detection System
Although LIDAR can quickly generate 3D point clouds by densely sampling the target area with laser pulses,and 3D point cloud data can be effectively used for environmental reconstruction,obstacle detection and other algorithms,LIDAR data collecting in line with the algorithm requirements for rail vehicles in subway environments is a huge challenge requiring enormous human and material resources.To address the issue,this thesis proposes a point cloud data simulation method for rail vehicle detection systems.By modeling the subway tunnel and LIDAR sensor,directed laser beams are generated using the working principle of LIDAR,and the directed laser beams are transformed into the same coordinate system through the position relationship between the LIDAR model and the tunnel model.Simulation data is obtained through the principle of ray projection.Based on this method,data simulation for different radius lines and working conditions with obstacles are conducted,and the experimental results show that the proposed data simulation method will help the algorithm development of rail vehicle detection systems using LIDAR.
LIDAR3D point cloudtunnel modelLIDAR modeldata simulation
万方数据
维普
