The invention discloses a two-stage compression denoising imaging method for a large-area array Geiger mode APD (avalanche photo
diode). The method comprises the following steps: intercepting
photon events in a pre-sampling time window at the front part of a data block to carry out global
histogram statistics, fitting and estimating
time domain characteristics of
background noise based on Poisson distribution, screening and compressing full-frame data, and eliminating most
noise; carrying out local joint
histogram statistics and
peak value extraction on the compressed data based on a pixel space neighborhood, and reconstructing a preliminary distance image and a preliminary intensity image; if the effective data in the neighborhood of the data meets the flat area condition, standard median filtering is executed; otherwise, starting a
robust filtering algorithm based on absolute median difference MAD for
processing. According to the method, the cooperation of front-end data efficient compression and rear-end accurate denoising and edge preserving is realized, and the method has the advantages of high
compression ratio, high adaptability and excellent
imaging quality, and is particularly suitable for real-time three-dimensional imaging of a large-area-array GM-APD
laser radar system.