Figure 22.

The comparison between the number of received points $N_{points}$ obtained from the simulated and real 10% Lambertian plate. The actual measured and LiDAR FMU received point cloud $N_{points}$ are similar. However, the number of points $N_{points}$ yielded by the state-of-the-art LiDAR sensor model are higher. The $MAPE$ for the number of received $N_{points}$ of LiDAR FMU is $9.6\%$ and $48.4\%$ for the state-of-the-art LiDAR sensor model up to 30 m.