Patent ID: 11995761

Abstract:
A method of generating virtual sensor data of a virtual single-photon avalanche diode (SPAD) lidar sensor includes generating a two-dimensional (2D) lidar array having a plurality of cells. The method further includes interpolating image data from a virtual camera with the 2D lidar array to define auxiliary image data, generating a virtual ambient image based on a red-channel (R-channel) data of the auxiliary image data, identifying a plurality of virtual echoes of the virtual SPAD lidar sensor based on the R-channel data and a defined photon threshold, defining a virtual point cloud indicative of virtual photon measurements of the virtual SPAD lidar sensor based on the plurality of virtual echoes, and outputting data indicative of the virtual ambient image, the virtual photon measurements, the virtual point cloud, or a combination thereof, as the virtual sensor data of the virtual SPAD lidar sensor.