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. 2024 Mar 13;24(6):1846. doi: 10.3390/s24061846

Figure 2.

Figure 2

Different options for modular sensor models based on ray tracing. Generally, ray tracing is performed directly in the environment simulation tool (option A). In LiMOX, ray tracing is performed within the sensor model (option B). Due to the internal handling and update of objects, it can even be operated stand-alone.