论文标题
部分可观测时空混沌系统的无模型预测
Detection and Mapping of Specular Surfaces Using Multibounce Lidar Returns
论文作者
论文摘要
我们提出的方法使用镜面多头激光雷达返回来检测和映射镜面表面，这些表面可能是依靠直接单刻返回的常规LIDAR系统看不见的。我们得出将这些多声音返回的时间和到达角度与镜面表面上的散射点相关联的表达式，然后使用这些表达式来制定技术以检索镜面表面几何时，当场景被单光束扫描或用多光束闪光灯照亮。我们还考虑了透明的镜面表面的特殊情况，可以将表面反射与散布在地面后面的物体上的光混合在一起。
We propose methods that use specular, multibounce lidar returns to detect and map specular surfaces that might be invisible to conventional lidar systems that rely on direct, single-scatter returns. We derive expressions that relate the time- and angle-of-arrival of these multibounce returns to scattering points on the specular surface, and then use these expressions to formulate techniques for retrieving specular surface geometry when the scene is scanned by a single beam or illuminated with a multi-beam flash. We also consider the special case of transparent specular surfaces, for which surface reflections can be mixed together with light that scatters off of objects lying behind the surface.
