Bayesian inference of visibility in fog and smoke artificial conditions from 3D-LiDAR point clouds

Karl Montalban,Dinesh Atchuthan,Christophe Reymann,Alexandre Ravet,Paul-Edouard Dupouy,Nicolas Riviére,Simon Lacroix

Journal of Quantitative Spectroscopy and Radiative Transfer（2023）

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Abstract

•Aerosols and hydrometeors cause false positive echoes in 3D-LiDAR point cloud data.•The distance distribution of noise echoes have characteristic shapes.•A Naive Bayes inference model classify visibility using the false positive echoes.•Poisson and Binomial RFS with Gamma and Log-normal distributions are suitable models.

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Key words

3D-LiDar, Degraded visual environment, Visibility estimation, Bayesian inference

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