One of the issues of LiDAR sensors is the degradation of its performance in rain. If a LiDAR beam intersects with a raindrop at a short distance from the transmitter, the raindrop can reflect enough of the beam back to the receiver, therefore detecting the raindrop as an object. The droplets can also absorb some of the emitted light, degrading the range of performance for the sensors.
Using different probabilistic rain models (none, to different intensities) researchers made it ‘rain’ the WMG 3XD simulator, and measured the LiDAR sensor’s responses to the rain, making a record of false positive and false negative detections.
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