激光雷达视窗表面灰尘污染模拟物研究

Research on of Simulation Materials for Dust Contaminations on Lidar Sensor Cover

摘要: 本研究深入探讨了视窗表面不同灰尘污染模拟对激光雷达性能的影响，以混合固态激光雷达为对象，通过多维度点云评价指标全面评估激光雷达在不同污染条件下的感知表现。预实验结果表明，污染于激光雷达激光发射器处影响最大，正式实验中研究了不同灰尘污染模拟物对激光雷达点云质量的影响，实验结果表明：污染对激光雷达测距性能无显著影响且不同颜色亚克力片和不同厚度橡胶片可以模拟灰尘污染。其中不透明亚克力片和橡胶片可以模拟重度灰尘污染，不同颜色的半透明亚克力片可以模拟轻度灰尘污染，通过改变亚克力片的颜色和透明度可以模拟不同程度的灰尘污染。该研究结果为进一步研究激光雷达视窗灰尘污染以及相关算法开发提供了基础。

Abstract: This study comprehensively explores the impact of different contamination simulations on the performance of a mixed solid-state lidar, focusing on the window surface. Through multidimensional point cloud evaluation metrics, the lidar’s perception performance is thoroughly assessed under various contamination conditions. Preliminary experimental results indicate that contamination at the lidar’s laser emitter has the greatest impact. In the formal experiments, the influence of different contamination simulation materials on lidar point cloud quality is investigated. The results show that contamination has no significant impact on lidar ranging performance, and various colored acrylic sheets and rubber sheets can simulate contamination. Opaque acrylic sheets and rubber sheets can simulate heavy contamination, while differently colored translucent acrylic sheets can simulate mild contamination. By changing the color and transparency of the acrylic sheets, different degrees of contamination can be simulated. The findings of this study provide a foundation for further research on lidar window contamination and the development of related algorithms.