Table 1 The performance of Lidar in... | Emerald Publishing

Table 1

The performance of Lidar in different rain intensities

	Tele-15
Rain intensity	Object type	Average number of point clouds	Average reflectance	Reflectance information entropy
No rain	White box	453	70	2.1
	Dummy	613	17	2.1
	Car	1583	14	1.43
Light rain (2.5 mm/h)	White box	402	2	0.02
	Dummy	732	8	0.03
	Car	813	2	0.47
Medium rain (8 mm/h)	White box	421	10	0.85
	Dummy	716	9	0.37
	Car	1147	7.9	0.52
Heavy rain (16 mm/h)	White box	476	18	1.45
	Dummy	697	10	0.94
	Car	1239	9	0.61

	Tele-15
Rain intensity	Object type	Average number of point clouds	Average reflectance	Reflectance information entropy
No rain	White box	453	70	2.1
	Dummy	613	17	2.1
	Car	1583	14	1.43
Light rain (2.5 mm/h)	White box	402	2	0.02
	Dummy	732	8	0.03
	Car	813	2	0.47
Medium rain(8 mm/h)	White box	421	10	0.85
	Dummy	716	9	0.37
	Car	1147	7.9	0.52
Heavy rain (16 mm/h)	White box	476	18	1.45
	Dummy	697	10	0.94
	Car	1239	9	0.61

Note:

*Tele-15 is a high-quality Lidar used in the rain experiment