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基于盖革模式APD阵列激光雷达是一种非扫描三维成像激光雷达,为研究系统的三维成像效果,对该系统的三维图像进行仿真。首先应用光线追踪法构建三维场景;并对APD像元的探测概率和累积概率进行仿真,在此基础上给出对探测距离仿真的方法,得到激光雷达探测的距离像;最后通过坐标变换将距离像转化为三维图像,实现了三维场景重建。仿真结果表明,该方法能较好地仿真出激光雷达获得的场景三维图像,并可以为APD阵列激光雷达的研究提供仿真试验数据。
Based on Geiger mode APD array laser radar is a non-scanning three-dimensional imaging lidar. To study the three-dimensional imaging effect of the system, the three-dimensional image of the system is simulated. Firstly, the ray tracing method is used to construct the three-dimensional scene. The detection probabilities and the cumulative probabilities of the APD pixels are simulated. Based on this, the method of simulating the detection distance is given, and the distance image of the laser radar is obtained. Finally, Like into a three-dimensional image, to achieve a three-dimensional scene reconstruction. The simulation results show that the proposed method can simulate the three-dimensional image of the scene obtained by Lidar, and provide simulation data for the research of APD LIDAR.