Phenomenological Range-Reflectivity Limits for Lidar Models and Feature Validation Approach

In sensor model development, the validation of individual model features is favorable. For lidar sensors, range limits depend on surface reflectivities. Two phenomenological feature models are presented for clear and adverse weather conditions. These models are derived from the lidar range equation. Maximum ranges for best environment conditions are based on data sheet parameters and attenuation on maximum range measurements. An application is presented using a physical point cloud lidar model. Moreover, an assessment of different feature models is needed, similar to unit tests. Therefore, resulting point clouds are compared with respect to the total number of corresponding points and the number of points with no correspondences for pair-wise cloud comparison. With a reference point cloud provided by the sensor manufacturer, feature validation becomes possible.