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1. WO2020133230 - RADAR SIMULATION METHOD, APPARATUS AND SYSTEM

Publication Number WO/2020/133230
Publication Date 02.07.2020
International Application No. PCT/CN2018/124924
International Filing Date 28.12.2018
IPC
G06T 7/521 2017.01
GPHYSICS
06COMPUTING; CALCULATING OR COUNTING
TIMAGE DATA PROCESSING OR GENERATION, IN GENERAL
7Image analysis
50Depth or shape recovery
521from laser ranging, e.g. using interferometry; from the projection of structured light
CPC
G01S 17/89
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
17Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
88Lidar systems specially adapted for specific applications
89for mapping or imaging
G01S 7/48
GPHYSICS
01MEASURING; TESTING
SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
7Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
48of systems according to group G01S17/00
Applicants
  • 深圳市大疆创新科技有限公司 SZ DJI TECHNOLOGY CO., LTD. [CN]/[CN]
Inventors
  • 郑石真 ZHENG, Shizhen
Agents
  • 北京同立钧成知识产权代理有限公司 LEADER PATENT & TRADEMARK FIRM
Priority Data
Publication Language Chinese (ZH)
Filing Language Chinese (ZH)
Designated States
Title
(EN) RADAR SIMULATION METHOD, APPARATUS AND SYSTEM
(FR) PROCÉDÉ, APPAREIL ET SYSTÈME DE SIMULATION DE RADAR
(ZH) 雷达仿真方法、装置及系统
Abstract
(EN)
A radar simulation method, apparatus (700) and system (800). The method comprises: determining, according to the emission direction of each laser ray from among a plurality of laser rays of a laser radar sensor, a target pixel point (201, 301, 401) sampled by each laser ray in a target image, wherein the target image is an image corresponding to a detection range of the laser radar sensor at the current sampling time, the target image comprises a depth map, and a depth value of a pixel point in the depth map represents the distance between the pixel point and the laser radar sensor; and outputting, according to a depth value of each target pixel point from among a plurality of target pixel points, a detection result of the laser radar sensor (202). Simulation of a laser radar sensor is realized.
(FR)
L'invention concerne un procédé, un appareil (700) et un système (800) de simulation de radar. Ce procédé consiste à : déterminer, en fonction de la direction d'émission de chaque rayon laser parmi une pluralité de rayons lasers d'un capteur radar laser, un pixel cible (201, 301, 401) échantillonné par chaque rayon laser dans une image cible, l'image cible étant une image correspondant à une plage de détection du capteur radar laser au moment d'échantillonnage actuel, l'image cible comprenant une carte de profondeur, et une valeur de profondeur d'un pixel dans la carte de profondeur représentant la distance entre le pixel et le capteur radar laser ; et produire, en fonction d'une valeur de profondeur de chaque pixel cible parmi une pluralité de pixels cibles, un résultat de détection du capteur radar laser (202). La simulation d'un capteur radar laser est ainsi effectuée.
(ZH)
一种雷达仿真方法、装置(700)及系统(800)。方法包括:根据激光雷达传感器的多个激光射线中各激光射线的发射方向,确定各激光射线在目标图像中采样到的目标像素点(201,301,401);目标图像为与激光雷达传感器当前采样时刻的探测范围对应的图像;目标图像包括深度图,深度图中像素点的深度值表示像素点与激光雷达传感器之间的距离;根据多个目标像素点各目标像素点的深度值,输出激光雷达传感器的探测结果(202)。实现了激光雷达传感器的仿真。
Also published as
CN201880042394.3
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