期刊名称：Journal of Theoretical and Applied Information Technology
印刷版ISSN：1992-8645
电子版ISSN：1817-3195
出版年度：2016
卷号：92
期号：2
出版社：Journal of Theoretical and Applied
摘要：In recent years, the usage of Light Detection and Ranging (LiDAR) scanners has become predominant in the fields of robotics, navigation and remote sensing for numerous applications. Due to the high selling cost of LiDAR scanners, the research communities have developed LiDAR simulators mostly for Airborne Laser Scanning (ALS) application and some minimal works can be found for Terrestrial Laser Scanning (TLS) application. While the LiDAR simulators are becoming more sophisticated, there are still some applications area where the use of these simulators are not convenient. This paper describes an alternative and simple approach for developing a simulator for terrestrial LiDAR scanner application. The aim of this research is to model a synthetic 2D LiDAR scanner to provide range data based on object and sensor parameters input provided by the user. The object models are derived explicitly from geometrical relationships between the object and ray from scanner, thus avoiding the use of vectors. This approach directly raster the range image in contrast to ray tracing. The GUI-based simulator is developed in Processing language, thus it has an open source and hardware independent environment, making it ideal for research applications. The data obtained from this simulator can be used as ground truth for analyzing the characteristics of LiDAR scanners or can even be used for localization simulations.
关键词：Terrestrial LiDAR; 2D Laser Scanner; Simulator; Range Image; Synthetic; Range Data
