(same author as Fog Simulation on Real LiDAR Point Clouds
Process:
1. Restore the calibrated lidar parameters by scan layer
2. Sampling snowflakes according to weather parameters
3. According toSnowflake, the distance and reflection angle of the original target to calculate the reflection intensity each time
4. Calculate the corresponding parameters for the intensity of each reflection and finally get the power of each reflection
5. Take the maximum power asThe final result of this reflection (the strongest echo)

Innovation (concern) for physics simulation:

Consider the effect of angular occlusion on laser beam reflection

Consider road reflections from snow