Figure 20.

(a) The test vehicle was equipped with a LiDAR sensor and global positioning system (GPS). The GPS ADMA-G-PRO+ from Genesys Inc. is used as the reference sensor with a range accuracy of $0.1$ m. The size of the $10\%$ reflective plate is $0.5$ × $0.5$. (b) The static simulation scene. The ground truth distance $d_{GT}$ is calculated from the sensor reference point to the center of the plate target in simulation and real measurement by using Equation (14).