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System and method for correction of distance walking error of photon counting three-dimensional imaging laser radar

A technology of photon counting and three-dimensional imaging, which is applied in the fields of lidar, image processing, and optics. It can solve the problems of difficult integration of single-chip readout circuits, difficulty in experimental verification, and limited application value, so as to improve imaging quality and real-time performance. Good, easy to implement effect

Inactive Publication Date: 2013-04-24
NANJING UNIV OF SCI & TECH
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Problems solved by technology

Multi-level threshold comparison circuits are too complex to integrate into a monolithic readout circuit and thus have limited application value
The difference in the number of echo photons changes the detection probability of the detector, which is difficult to be verified by experiments, and the look-up table correction method is limited to a single experimental system and is not universal

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  • System and method for correction of distance walking error of photon counting three-dimensional imaging laser radar
  • System and method for correction of distance walking error of photon counting three-dimensional imaging laser radar
  • System and method for correction of distance walking error of photon counting three-dimensional imaging laser radar

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Embodiment

[0043] In the photon counting three-dimensional imaging lidar distance walking error correction method of the present invention, the prior calibration method includes the following steps:

[0044] (1) Prepare a plate with high reflectivity (reflectivity greater than 90%) in advance, and place it at a fixed distance between 10 meters and 20 meters directly in front of the photon counting three-dimensional imaging lidar;

[0045] (2) Make the scanning mechanism of the photon counting three-dimensional imaging lidar in a static state, set the output pulse energy of the laser to the maximum, and record the laser pulse energy as E 0 ;

[0046] (3) Make the laser in a periodic working state, output multiple laser pulses continuously, and set the number of laser pulse repetitions to N total ; At the same time, the time-correlated single-photon counting module is used to record the flight time of photons in each laser pulse, denoted as t top (0,j)(1≤j≤N total );

[0047] (4) Calcu...

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Abstract

The invention discloses a system and a method for correction of distance walking error of a photon counting three-dimensional imaging laser radar. Firstly, distance walking errors of a photon counting three-dimensional imaging laser radar are demarcated with multiple points to obtain the distance running errors under different laser pulse response ratios. Then, a manner of the mathematical fit is adopted to obtain the function of the distance walking errors about the laser pulse response ratios, and the function of the distance walking errors is recorded as a distance running error function. Finally, during the working process of the photon counting three-dimensional imaging laser radar, distributions of the laser pulse response ratios of the original three-dimensional distance images are counted, and the function of the distance walking error function is adopted to forecast the distance walking errors and correct the original three-dimensional distance image using compensation so as to obtain the corrected three-dimensional distance images. The photon counting three-dimensional imaging laser radar distance walking error correction system and the method are capable of eliminating the distance walking errors.

Description

technical field [0001] The invention belongs to optics, laser radar and image processing technologies, in particular to a photon counting three-dimensional imaging laser radar distance travel error correction system and method. Background technique [0002] The distance map uses a three-dimensional image mode to describe the region of interest. The data cube contains the geometric invariant characteristics of the target, which can avoid distortion and confusion in the two-dimensional image. It is widely used in industrial mold design, military target automatic recognition and other fields. Several technical approaches are currently known for obtaining range images. Among them, the photon-counting three-dimensional laser imaging radar uses an avalanche diode with single-photon sensitivity and works in Geiger mode as the photon detector of the laser echo signal, and realizes high time-resolution measurement in the photon flight mode. Perform multi-pulse repeated measurements ...

Claims

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Application Information

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IPC IPC(8): G01S7/497
Inventor 何伟基陈钱顾国华司马博羽陈云飞张闻文钱惟贤隋修宝于雪莲路东明
Owner NANJING UNIV OF SCI & TECH
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