Bidirectional reflectance distribution function based surface modeling of non-Lambertian using intensity data of light detection and ranging.

To provide a credible model for light detection and ranging (LiDAR) target classification, the focus of this study is on the relationship between intensity data of LiDAR and the bidirectional reflectance distribution function (BRDF). An integration method based on the built-in-lab coaxial laser detection system was advanced. A kind of intermediary BRDF model advanced by Schlick was introduced into the integration method, considering diffuse and specular backscattering characteristics of the surface. A group of measurement campaigns were carried out to investigate the influence of the incident angle and detection range on the measured intensity data. Two extracted parameters r and S(λ) are influenced by different surface features, which illustrate the surface features of the distribution and magnitude of reflected energy, respectively. The combination of two parameters can be used to describe the surface characteristics for target classification in a more plausible way.