Method for generating simulated point cloud data, device, and storage medium

A device, comprising:

• one or more processors;
• a memory configured to store one or more programs, wherein when the one or more programs are executed by the one or more processors, the one or more processors are caused to implement a method for generating simulated point cloud data, in which the one or more processors are configured to:
• acquire at least one frame of point cloud data collected by a road collecting device in an actual environment without a dynamic obstacle as static scene point cloud data;
• set, according to set position association information, at least one dynamic obstacle in a coordinate system matching the static scene point cloud data;
• simulate in the coordinate system, according to the static scene point cloud data, a plurality of simulated scanning lights emitted by a virtual scanner located at an origin of the coordinate system, comprising:
• connecting the origin of the coordinate system to each point in the static scene point cloud data respectively to obtain a plurality of line segments as the plurality of simulated scanning lights;
• and
• update the static scene point cloud data according to intersections of the plurality of simulated scanning lights and the at least one dynamic obstacle to obtain the simulated point cloud data comprising point cloud data of the dynamic obstacle.

A non-transitory computer-readable storage medium having a computer program stored thereon, the computer program being executed by a processor to implement a method for generating simulated point cloud data, comprising:

• acquiring at least one frame of point cloud data collected by a road collecting device in an actual environment without a dynamic obstacle as static scene point cloud data;
• setting, according to set position association information, at least one dynamic obstacle in a coordinate system matching the static scene point cloud data;
• simulating in the coordinate system, according to the static scene point cloud data, a plurality of simulated scanning lights emitted by a virtual scanner located at an origin of the coordinate system, comprising:
• connecting the origin of the coordinate system to each point in the static scene point cloud data respectively to obtain a plurality of line segments as the plurality of simulated scanning lights;
• and updating the static scene point cloud data according to intersections of the plurality of simulated scanning lights and the at least one dynamic obstacle to obtain the simulated point cloud data comprising point cloud data of the dynamic obstacle.