Measuring Sensor Performance
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Base Performance
Basic validation measurements for sensor models
Do you trust the data-sheet of your sensor? Does it even have all the information you need? As sensor models need to be compared to real world sensor data for validation there are high requirements on the accuracy of reference measurements to generate ground truth data needed for accurate re-simulation of the measurements.
Standardized Performance Measurements
We conduct real-world measurements standardized by DIN SAE Spec 91471. With these measurements, you can quantify the actual performance of your lidar sensor. The data can furthermore be used to compare it with simulation results to validate sensor models.
Automatic Sensor Station
The high-precision sensor station is fully automated, allowing the sensor to be positioned at any predefined azimuth and elevation angle with an accuracy of 0.01°. Additional reference systems measure the distance to the target with millimeter-level precision and also ensure perfect alignment between the sensor and the target.
Multi-Functional Target Holder
The precision target holder is compatible with a variety of 1 m × 1 m calibration targets, including 10 %, 50 %, and 80 % Lambertian targets, as well as retro-reflector targets. Custom targets made from any material can also be accommodated. The target can be positioned at any azimuth or elevation angle relative to the sensor.
Automatic Ground Truth Generation
Our test bench automatically generates ground truth data containing the sensor and target positions and orientations. This way, the measurements can directly be re-simulated with sensor models. The re-simulation can then be analyzed in Persival Simspector and compared to the measurements with Persival Avelon.
Weather Performance
Quantifying the influence of environmental conditions
Perception sensors are exposed to all kinds of adverse environmental conditions like rain, snow, or fog. Especially for optical sensors, e.g. lidar, the influences on the signal propagation lead to range degradation and false positive detections. These influences need to be measured and validated.
Real World Weather Measurements
Our weather test bench is equipped with precision reference sensors measuring environment parameters like visibility, brightness, precipitation drop size and speed, temperature, wind speed and direction, etc. We measure year-round in various real conditions. Multiple lidar and radar sensors can be mounted on the test bench.
Calibrated Reference Targets
In the sensors’ field of view, various stationary targets with different calibrated reflectivity are located. Additionally, common road signs are placed in the target area. We analyze the weather effects in the sensor data and consider these effects in simulation.
Fully Automated Recordings
The measurements are fully automated. When defined thresholds of weather conditions are passed, the station automatically starts recording the perception sensor data alongside the data from the reference sensors. The video shows a measurement of moderate rain.
