摘要 : An increasing number of production vehicles are opting to integrate LiDAR systems to achieve superior perception capabilities. However, there are significant differences in the installation positions, particularly the heights, of ... 展开 An increasing number of production vehicles are opting to integrate LiDAR systems to achieve superior perception capabilities. However, there are significant differences in the installation positions, particularly the heights, of LiDAR systems across different car models from various companies. For instance, some are installed on the forehead of the vehicle, while others are mounted near the headlights. The installation height of LiDAR has a significant impact on its perception capability, including the LiDAR detection ability and the performance of 3D object detection algorithms. To investigate the influence of LiDAR installation height, we introduced the Height3 dataset, which is collected simultaneously by LiDAR sensors with three heights in the CARLA simulation environment. Using this dataset, we first conducted a comprehensive statistical analysis of the LiDAR detection ability and compared the number of detected vehicles and the detection rate of LiDARs at three heights. Furthermore, we investigated the impact of point clouds captured from different heights on the performance of multiple 3D vehicle detection algorithms. Based on the studies on the simulated Height3 dataset, we have an overall understanding of the performance differences of commercial vehicle-mounted LiDARs installed at different heights, providing suggestions for the installation positions of LiDAR sensors on production vehicles. The dataset is available on http://www.kaggle.com/datasets/kezhili/height3. 收起