A Ray Tracing Based Model for 3d Ladar Systems

Abstract

This paper describes an approach to simulate long range laser based 3D imaging sensor systems. The model is based on a ray tracing principle where a large amount of rays are sent from a sensor towards the scene. The scene, the target surface, and the atmosphere affect the rays and the final light energy distribution is acquired by a receiver, where sensor data is generated. The approach includes advanced descriptions of the materials in the scene, and modeling of several effects in the atmosphere and the receiver electronics. A turbulence model is included to achieve realistic long range simulations. Examples of simulations and corresponding real world data collection are shown. Model validations are presented.