LiDAR Point Cloud Image Modeling and Quality Testing Method

In automatic driving, the environmental disturbances encountered by LiDAR would directly reduce the quality of point cloud images output by LiDAR. Assessing the quality of LiDAR point cloud image is key in LiDAR safety evaluation. However, it is almost impossible and extremely expensive to faithfully introduce in experiments all potential environmental interferences that LiDAR can encounter in the real world. To address this problem, this paper develops a modeling method for LiDAR point cloud image, which can accurately simulate the interferences encountered by LiDAR in the real world. Moreover, based on this model, we propose a method to test the quality of LiDAR point cloud image, so as to determine whether the LiDAR can be used in the field of automatic driving. The proposed method proves reliable in assessing the image quality of the LiDAR to be evaluated, and whether the LiDAR can be used in obstacle avoidance, mapping and other application fields.