Research on Pulse Linear Array LiDAR Point Cloud Enhancement Algorithm in Snowy Environment

LiDAR point cloud data acquisition is difficult in snowfall environment, which leads to fewer point cloud datasets in snowy days and affects the subsequent research on target recognition algorithms in bad weather. In this paper, we investigate a point cloud enhancement algorithm based on pulse linear array LiDAR in snowfall environment. We use a linear array data acquisition method to collect the point cloud data of sunny and snowy days, and the point cloud data of sunny days and different degrees of snowy days are compared. We establish a linear array pulse LiDAR acquisition model and a single-line laser snowfall simulation model. The results show that a large number of snow particles gather in the vicinity of pulse linear array LiDAR and they are conical in distribution. The simulation model can generate point cloud data close to the real snow environment.