Real-time virtual LiDAR sensor
A virtual LiDAR sensor system fora motor vehicle includes a plurality of camera modules and algorithms that generate a depth image, a RGB image, and a segmentation information image. The system is implemented with an algorithm that associates the backscattered signals with information from a color-reflectivity table, incident angle determination and depth information.
1. A virtual LiDAR sensor system for a motor vehicle, the system comprising:
a first camera or a first camera system that captures depth of field information of an image;
a second camera that captures RGB information of the image; and
a third camera that generates semantic segmentation information of the image;
a geometry point cloud that receives depth of field information from the first camera; and
a physics module that receives information from the geometry point cloud module, the second camera and the third camera, the physics module including a laser beam propagation sub-module, a backscattering attenuation sub-module, a digital reflector sub-module and a color-reflectivity table sub-module,
wherein the physics module generates a depth and intensity point cloud of the image from the depth of field information, the RGB information and the semantic segmentation information.
2. The system of claim 1 , wherein the system includes a 3-d projection module that provides a pattern transformation.
3. The system of claim 2 , wherein the pattern transformation includes 3-d coordinates.
4. The system of claim 3 , wherein the 3-d coordinates are associated with propagation of a laser beam and backscattering attenuation.
5. The system of claim 3 , wherein the 3-d coordinates are transmitted to an incident angle module.
6. The system of claim 5 , wherein the incident angle module provides information to a digital reflector.
7. The system of claim 1 , wherein the RGB camera provides color information to a color-surface reflectivity table.
8. A virtual LiDAR sensor system for a motor vehicle, the system comprising:
a first module that provides depth of field information of an image;
a second module that provides RGB information of the image;
a third module that provides semantic segmentation information of the image;
a geometry point cloud that receives information from the first module; and
a physics module that receives information from the geometry point cloud module and the second and the third modules, wherein the physics module includes four sub-modules, and
wherein the physic module generates a depth and intensity point cloud.
9. The system of claim 8 , wherein the four sub-modules include a laser beam propagation sub-module, a backscattering attenuation sub-module, a digital reflector sub-module and a color-reflectivity table sub-module.