METHOD OF MODELLING A SCANNING DISTANCE SENSOR FOR PROTOTYPING PARAMETERS OF SUCH SENSOR AND/OR FOR PROTOTYPING SOFTWARE PROCESSING THE OUTPUT OF SUCH SENSOR

摘要

For prototyping parameters of a scanning distance sensor and/or for prototyping software which processes the output of such sensor it is useful to model the sensor. The presented method of modelling a scanning distance sensor comprises that a model of the sensor and of one or more objects in the surroundings of the sensor is defined, the model including, for each of the sensor and the objects, information about its respective location and velocity in three-dimensional space. The method further comprises that, for at least one point in time, a set of detections is determined as if obtained by the sensor when scanning a field of view of the sensor, wherein each of the detections corresponds to a different line of sight originating from the sensor and comprises information about the orientation of the respective line of sight and about the distance of a respective target point from the sensor, the target point being the point in space where the line of sight first crosses any of the objects at the respective point in time. The method in particular comprises that the set of detections is modified by estimating the effect of sequentially scanning the field of view in discrete time steps on the detections and inversely applying the estimated effect to the set of detections.