用摄像头和激光雷达构建毫米波仿真场景，自动绑定材料属性提升精度。
RFDT-Channel: RGB-LiDAR-Based RF Digital Twin Scene Construction for 28 GHz Indoor Ray-Tracing Channel Simulation
- 融合RGB图像与激光点云，生成带物理属性的三维场景模型。
- 材料绑定使有效传播路径从742条降至52条，主路径强度基本不变。
- 适合做28GHz室内无线信道仿真的研究人员与工程师使用。
真实室内毫米波仿真需要高效建模射频可计算的几何结构和电磁材料属性。为解决人工建模效率低、视觉重建网格射频适应性差、28 GHz射线追踪仿真缺乏材料绑定的问题，本文提出基于红绿蓝（RGB）图像与激光检测与测距（LiDAR）点云的射频数字孪生场景构建流程RFDT-Channel。通过搭载激光雷达和GMSL相机的Jetson Orin平台采集室内视频与点云数据，利用COLMAP、3D高斯泼溅和SuGaR生成初始三角网格。随后，激光点云在Blender中提供几何与尺度参考，实现射频导向的正则化处理，包括对齐、墙面实体化、门窗开孔构造及拓扑修复。OpenScene语义分割映射出混凝土、玻璃、木材和金属等主要材料，Sionna RT完成28 GHz射线追踪。在固定收发器部署条件下，生成的信道冲激响应（CIR）、信道频率响应（CFR）和无线地图结果显示，材料绑定主要影响弱反射、透射与散射路径，有效路径数由约742条减少至约52条，而主路径幅度几乎保持不变。
原文摘要 · Abstract (English)
Real-scene indoor millimeter-wave simulation requires efficient modeling of radio frequency (RF)-computable geometry and electromagnetic material properties. To address the low efficiency of manual scene modeling, the limited RF adaptability of visually reconstructed meshes, and the lack of material binding in 28 GHz ray-tracing simulation, RFDT-Channel is developed as an RF digital twin scene construction workflow based on red-green-blue (RGB) images and light detection and ranging (LiDAR) point clouds. Indoor videos and point clouds are collected by a Jetson Orin platform with LiDAR and GMSL cameras. An initial triangular mesh is generated through COLMAP, 3D Gaussian Splatting, and SuGaR. The LiDAR point cloud then provides geometric and scale references for RF-oriented regularization in Blender, including alignment, wall solidification, door/window opening construction, and topology repair. OpenScene semantic segmentation maps major indoor structures to concrete, glass, wood, and metal materials, and Sionna RT performs 28 GHz ray tracing. Under a fixed transmitter-receiver deployment, the generated channel impulse response (CIR), channel frequency response (CFR), and Radio Map results show that material binding mainly changes weak reflection, transmission, and scattering paths, reducing the number of effective paths from about 742 to about 52 while keeping the dominant path amplitude nearly unchanged.
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