基于光学模型的雾天点云渲染方法  

Foggy Weather Point Cloud Simulation Method Based on Optical Model

作　　者：于惠春 张蕊[1,2] 夏鹏 王旭龙 Yu Huichun;Zhang Rui;Xia Peng;Wang Xulong(School of Automotive and Transportation,Tianjin University of Technology and Education,Tianjin 300222,China;National&Local Joint Engineering Research Center for Intelligent Vehicle Road Collaboration and Safety Technology,Tianjin 300222,China;Tianjin Dolphin Zhixing Technology Co.,Ltd.,Tianjin 300380,China)

机构地区：[1]天津职业技术师范大学汽车与交通学院,天津300222 [2]智能车路协同和安全技术国家地方联合工程研究中心,天津300222 [3]天津海豚智行科技有限公司,天津300380

出　　处：《激光与光电子学进展》2025年第2期456-464,共9页Laser & Optoelectronics Progress

基　　金：天津市科技计划项目(23KPHDRC00170)。

摘　　要：针对雾天点云数据集采集困难的问题,提出了一种基于光学模型的点云雾天渲染方法。首先,在相同场景中,建立良好天气与雾天的激光雷达脉冲响应之间的数学关系。其次,利用激光在雾天中的衰减设计算法,通过修改算法中衰减系数、后向散射系数、目标的差分反射率,设定渲染点云的能见度,得到设定能见度下的雾天渲染点云。实验证明,本文方法有效地渲染了能见度为50~100 m的雾天点云,表现出稳定的效果。渲染点云与真实雾天点云相比,KL(Kullback-Leibler)散度平均值均小于6,Hausdorff距离小于0.5 m的占比平均值均不低于85%,均方误差距离平均值均小于8,证明了该方法的可行性。因此,本文方法能够对良好天气下的点云进行雾天点云渲染,解决雾天点云数据集匮乏和能见度数据缺失的问题。To address the scarcity of point cloud datasets in foggy weather,an optical model-based foggy weather point cloud rendering method is proposed.First,a mathematical relationship is established between the LiDAR impulse responses during good weather and foggy weather in the same scene.Second,an algorithm is designed using laser attenuation in a foggy weather,and the visibility of the rendered point cloud is set by modifying the attenuation coefficient,backscattering coefficient,and differential reflectance of the target in the algorithm to obtain the rendered point cloud of the foggy weather under the set visibility.Experiments reveal that the proposed method effectively renders foggy weather point cloud with a visibility within 50‒100 m,and that the method shows stable results.Compared with the real foggy weather point clouds,the average values of KL(Kullback-Leibler)dispersion of the rendered point clouds are less than 6,the average values of the percentage of Hausdorff distance less than 0.5 m are not less than 85%,and the average values of the mean square error distance are less than 8,proving the feasibility of proposed method.Therefore,the proposed method can render foggy weather point cloud under good weather and overcomes the lack of foggy weather point cloud datasets and visibility data.

关 键 词：雾天渲染 光学模型 激光雷达 点云处理 大气衰减 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]