Foggy Weather Point Cloud Simulation Method Based on Optical Model

Huichun Yu; Rui Zhang; Peng Xia; Xulong Wang

doi:10.3788/LOP241136

Laser & Optoelectronics Progress, Volume. 62, Issue 2, 0237014(2025)

Foggy Weather Point Cloud Simulation Method Based on Optical Model

Huichun Yu^1、*, Rui Zhang^1,2, Peng Xia³, and Xulong Wang¹

Author Affiliations

¹School of Automotive and Transportation, Tianjin University of Technology and Education, Tianjin 300222, China

²National & Local Joint Engineering Research Center for Intelligent Vehicle Road Collaboration and Safety Technology, Tianjin 300222, China

³Tianjin Dolphin Zhixing Technology Co., Ltd., Tianjin 300380, China

show less

Abstract Get PDF(in Chinese)

Figures & Tables(16)

Fig. 1. Foggy weather simulation process

Download full size

Fig. 2. Schematic of LiDAR sensor

Download full size

Fig. 3. Objects at 50 m from the radar without obstruction in foggy weather

Download full size

Fig. 4. Objects at 50 m from the radar with obstruction in foggy weather

Download full size

Fig. 5. Histogram of real foggy weather point cloud distribution. (a) Visibility of 100 m; (b) visibility of 80 m; (c) visibility of 50 m

Download full size

Fig. 6. Histogram of simulated foggy weather point cloud distribution. (a) Visibility of 100 m; (b) visibility of 80 m; (c) visibility of 50 m

Download full size

Fig. 7. Point cloud of visibility of 100 m in foggy weather. (a) Real foggy weather; (b) simulated foggy weather

Download full size

Fig. 8. Line graph of evaluation indicators. (a) KL dispersion; (b) Hausdorff distance less than 0.5 m; (c) MSE distance

Download full size

Fig. 9. Line graph of dataset. (a) KL dispersion; (b) Hausdorff distance less than 0.5 m; (c) MSE distance

Download full size

Fig. 10. Line graph of actual data. (a) KL dispersion; (b) Hausdorff distance less than 0.5 m; (c) MSE distance

Download full size

Table 1. Velodyne HDL-32E LiDAR parameters

View table

Table 1. Velodyne HDL-32E LiDAR parameters

Parameter	Value
Wavelength /nm	905
Number of lasers	32
Horizontal perspective /（°）	360
Vertical perspective /（°）	+10.67‒-30.67
Maximum detection distance /m	100
Scanning frequency /Hz	10
Work environment /（°）	-10‒+60

Table 2. Number of sectional distribution of point clouds in real foggy weather

View table

Table 2. Number of sectional distribution of point clouds in real foggy weather

Distribution interval /m	Number of sectional distribution of point clouds
Distribution interval /m	Visibility of 100 m	Visibility of 80 m	Visibility of 50 m
0‒10	13388	13565	13478
10‒20	8409	8094	7473
20‒30	6037	6223	5643
30‒40	4140	4523	4269
40‒50	2075	3565	2043
50‒60	1797	2038	1359
60‒70	821	1075	278
70‒80	478	833	139
80‒90	253	269	26
90‒100	228	149	12
100‒110	174	86	8

Table 3. Number of sectional distribution of point clouds in simulated foggy weather

View table

Table 3. Number of sectional distribution of point clouds in simulated foggy weather

Distribution interval /m	Number of sectional distribution of point clouds
Distribution interval /m	Visibility of 100 m	Visibility of 80 m	Visibility of 50 m
0‒10	13392	13605	13509
10‒20	8426	8103	7587
20‒30	6048	6235	5879
30‒40	4203	4598	4382
40‒50	2179	3667	2126
50‒60	1839	2171	1205
60‒70	857	1201	212
70‒80	526	865	105
80‒90	294	228	35
90‒100	236	97	25
100‒110	189	52	13

Table 4. Evaluation indicators
View table
Table 4. Evaluation indicators
Visibility /m KL dispersion Hausdorff distance less than 0.5 m /% MSE distance
50 5.73 86.35 7.74
80 4.36 87.73 6.02
100 2.78 89.96 4.63

Table 5. Dataset evaluation indicators average
View table
Table 5. Dataset evaluation indicators average
Map KL dispersion Hausdorff distance less than 0.5 m /% MSE distance
In the city 2.81 89.52 4.58
Outside the city 2.56 90.61 4.39

Table 6. Actual data evaluation indicators average
View table
Table 6. Actual data evaluation indicators average
Map KL dispersion Hausdorff distance less than 0.5 m /% MSE distance /m
In the city 3.82 85.46 5.75
Outside the city 3.56 87.25 5.48

Tools

Get Citation

Copy Citation Text

Huichun Yu, Rui Zhang, Peng Xia, Xulong Wang. Foggy Weather Point Cloud Simulation Method Based on Optical Model[J]. Laser & Optoelectronics Progress, 2025, 62(2): 0237014

Download Citation

EndNote(RIS)BibTex Plain Text

Set citation alerts for article

Save article for my favorites