Simulation and understanding of range images acquired in fast motion

Scanning systems of existing range finders are sequential. The understanding and analysis of static range images has spread in the scientific community. Such images are widely used in the fields of vision and robotics. However, it is not yet clear what a range finder sees and what it does not see at high velocities. Depending on the scanning system, obstacles may be missed, if the vehicle velocity is not well related to the acquisition rate. A Laser Range Finder Scanning System Simulator such as LRF3S helps to relate vehicle motion to the scanning mechanism. Simulations show the location of each scanned point on the scene at speeds defined on the trajectory. The authors believe that they help to understand dynamic range images and that they are a framework for the design of a range finder scanning system best adapted for an application