Functional Sensors (L1)

Optional modules

The Sensors package is a powerful set of features for simulating Camera, Radar, Lidar, Ultrasonic. It gives access to the SENSORS, CAMERASENSOR, LASERMETER modules.

The SENSORS module allows simulating camera, radar and/or ultrasonic sensors technologies and produces the complete object list with all the attributes.
The CAMERASENSOR allows simulating a camera sensors and produces highly realistic synthetic Images. Associated with the segmentation plugin, it can also produce images in false colors per object type or instance.
The LASERMETER allows simulating Lidar sensors technologies.

The default data set of SCANeR studio simulation engine comes with sensors’ samples for camera, GPS, lidar, radar and ultrasonic:
the package includes a complete editor to create and parametrize the models in order to replicate real sensors technologies.
These models can also be fully customized using python scripting: anchor point selection, custom noise models, detection errors, etc.

Key features  
Camera sensor
  • Any number of focal, for each focal: field of view, resolution, distortion, max range and detection functions
  • Range and visibility percentage per target type
  • Image output (access to each frame with the SCANeR studio SDK)
  • Lane and marking detection
  • Linear object detection
  • 3D Bounding boxes
  • Targets detection: vehicles, pedestrians, objects, road signs, road lanes/lines
  • Target detections attributes: anchor point, bounding box, traffic state, many attributes
  • Occlusion computation on complete scene
  • Effects: apply distortion, DOF
  • Image segmentation output
  • Statistical noise models
Lidar sensor
  • Simulates many different Lidar types and configurations, including rotating lidar. It gives the possibility to describe rays layouts, rotation speed, scan patterns, sequence duration, etc.
  • Compute points cloud using a 3D ray casting: intersection between laser rays and 3D scene
  • 3D point position, normal, intensity and targets identification
  • Debug view of the sensor
Radar sensor
  • Any number of beams, for each beam:
    • Horizontal and vertical FoV
    • Minimum and maximum range
  • Range and visibility percentage per target type
  • Targets detection: vehicles, pedestrians, objects, road signs
  • Target detections attributes: anchor point, bounding box, many attributes
  • Occlusion computation on complete scene
  • Complex beam shapes can be imported
  • Statistical noise models 
Ultrasonic sensor
  • Any number of beams, for each beam:
    • Horizontal and vertical FoV
    • Min and max range
    • Complex beam geometry
  • 3D computation on whole scene
  • Compute nearest objects (detection of target in the beams). For each target:
    • Distance, azimuth, elevation …
  • Road filtering and debug view of the sensor 
Python
  • Custom noise model for marking or target detection
  • Post-processing
Included simulation modules
  • CAMERASENSOR (camera image) with Segmentation Plugin
  • LASERMETER (lidar)
  • SENSORS (for camera, radar and ultrasonic) 
Notes
  • The GPS sensor module is included in the Essential package (page 9)