Generation and validation of virtual point cloud data for automated driving systems

Timo Hanke, Alexander Schaermann, Matthias Geiger, Konstantin Weiler, Nils Hirsenkorn, Andreas Rauch, Stefan Alexander Schneider, Erwin Biebl

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

32 Scopus citations

Abstract

The performance of an automated driving system is crucially affected by its environmental perception. The vehicle's perception of its environment provides the foundation for the automated responses computed by the system's logic algorithms. As perception relies on the vehicle's sensors, simulating sensor behavior in a virtual world constitutes virtual environmental perception. This is the task performed by sensor models. In this work, we introduce a real-time capable model of the measurement process for an automotive lidar sensor employing a ray tracing approach. The output of the model is point cloud data based on the geometry and material properties of the virtual scene. With this low level sensor data as input, a vehicle internal representation of the environment is constructed by means of an occupancy grid mapping algorithm. By using a virtual environment that has been constructed from high-fidelity measurements of a real world scenario, we are able to establish a direct link between real and virtual world sensor data. Directly comparing the resulting sensor output and environment representations from both cases, we are able to quantitatively explore the validity and fidelity of the proposed sensor measurement model.

Original languageEnglish
Title of host publication2017 IEEE 20th International Conference on Intelligent Transportation Systems, ITSC 2017
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1-6
Number of pages6
ISBN (Electronic)9781538615256
DOIs
StatePublished - 2 Jul 2017
Event20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017 - Yokohama, Kanagawa, Japan
Duration: 16 Oct 201719 Oct 2017

Publication series

NameIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Volume2018-March

Conference

Conference20th IEEE International Conference on Intelligent Transportation Systems, ITSC 2017
Country/TerritoryJapan
CityYokohama, Kanagawa
Period16/10/1719/10/17

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