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US 2021/0080583 A1Published application
Systems and methods for generating synthetic sensor data
AssigneeThe MathWorks, Inc.
InventorsChad M. Van Fleet, Joseph P. Lomonaco, Arvind Jayaraman
Life of this patent
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Abstract
Systems and methods generate synthetic sensor data, such as synthetic radar, lidar, and/or sonar data from three dimensional (3D) scene data that may be custom designed. Reflectivity coefficients in the radar, lidar, and/or sonar spectrums may be determined for objects included in the 3D scene data. The reflectivity coefficients may be utilized by a game engine for computing the synthetic sensor data. The synthetic sensor data may be used in the creation, evaluation, and/or verification of a design for a controller or other system that utilizes such data.
Claims29
A computer-implemented method comprising:
- receiving 3D scene data at a computer-based three dimensional (3D) virtualization environment, the 3D scene data including objects having vertices, normals, and attributes;
- for a plurality of the objects of the 3D scene data, computing, by the 3D virtualization environment, reflectivity information in a frequency range or a wavelength range for at least one of a virtual radar sensor, a virtual lidar sensor, or a virtual sonar sensor, based on the vertices, normals, and attributes of the plurality of objects and a plurality of values for parameters of the at least one the virtual radar sensor, the virtual lidar sensor, or the virtual sonar sensor;
- for the at least one of the virtual radar sensor, the virtual lidar sensor, or the virtual sonar sensor, computing, by the 3D virtualization environment, at least one of radar range and radar amplitude, a point cloud of lidar range and lidar reflectance, or sonar range and sonar reflectance, based on the reflectivity information;
- transmitting the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, or the sonar range and the sonar reflectance from the 3D virtualization environment to a model including elements representing at least one of computations, functions or operations;
- and
- processing the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, and/or the sonar range and the sonar reflectance by the model.
3 more elements
One or more non-transitory computer-readable media comprising program instructions for execution by one or more processors, the program instructions instructing the one or more processors to:
- receive 3D scene data at a computer-based three dimensional (3D) virtualization environment, the 3D scene data including objects having vertices, normals, and attributes;
- for a plurality of the objects of the 3D scene data, compute, by the 3D virtualization environment, reflectivity information in a frequency range or a wavelength range for at least one of a virtual radar sensor, a virtual lidar sensor, or a virtual sonar sensor, based on the vertices, normals, and attributes of the plurality of objects and a plurality of values for parameters of the at least one of the virtual radar sensor, the virtual lidar sensor, or the virtual sonar sensor;
- for the at least one of the virtual radar sensor, the virtual lidar sensor, or the virtual sonar sensor, compute, by the 3D virtualization environment, at least one of radar range and radar amplitude, a point cloud of lidar range and lidar reflectance, or sonar range and sonar reflectance, based on the reflectivity information;
- transmit the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, or the sonar range and the sonar reflectance from the 3D virtualization environment to a model including elements representing at least one of computations, functions or operations;
- and
- process the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, or the sonar range and the sonar reflectance by the model.
3 more elements
An apparatus comprising:
- a memory storing 3D scene data of a computer-based three dimensional (3D) virtualization environment, the 3D scene data including objects having vertices, normals, and attributes;
- and
- one or more processors configured to:
- for a plurality of the objects of the 3D scene data, compute, by the 3D virtualization environment, reflectivity information in a frequency range or a wavelength range for at least one of a virtual radar sensor, a virtual lidar sensor, or a virtual sonar sensor, based on the vertices, normals, and attributes of the plurality of objects and a plurality of values for parameters of the at least one of the virtual radar sensor, the virtual lidar sensor, or the virtual sonar sensor;
- for the at least one of the virtual radar sensor, the virtual lidar sensor, or the virtual sonar sensor, compute, by the 3D virtualization environment, at least one of radar range and radar amplitude, a point cloud of lidar range and lidar reflectance, or sonar range and sonar reflectance, based on the reflectivity information;
- transmit the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, or the sonar range and the sonar reflectance from the 3D virtualization environment to a model including elements representing at least one of computations, functions or operations;
- and
- process the at least one of the radar range and the radar amplitude, the point cloud of lidar range and lidar reflectance, or the sonar range and the sonar reflectance by the model.
5 more elements
Dependencies are inferred from the claim text.