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A laser radar echo image processing method

A technology of echo image and processing method, which is applied in the field of image processing, and can solve problems such as unclear target echo image extraction

Active Publication Date: 2020-06-05
HARBIN INST OF TECH
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0008] An embodiment of the present invention provides a laser radar echo image processing method to solve the existing technical problem of unclear target echo image extraction

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  • A laser radar echo image processing method
  • A laser radar echo image processing method
  • A laser radar echo image processing method

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Embodiment 1

[0047] The main process of the method (EDT) of the present invention is as follows. Firstly, based on the edge detection theory, the original echo signal is convoluted and denoised to obtain the mid-processing waveform diagram, and then the mid-processing waveform diagram is extracted by using the mathematical average algorithm to obtain Space target laser detection echo data. Process the waveform diagram in the middle to obtain the specific process such as figure 1 shown.

[0048] A laser radar echo image processing method provided in an embodiment of the present invention includes the following steps:

[0049] Step S101: read in the original echo waveform diagram;

[0050] Step S102: defining a convolution matrix and a threshold;

[0051] For example the convolution matrix can be

[0052] where a ij =1, (i=1,...,N; j=3,5,7,9), N is a natural number.

[0053] Step S103: Perform convolution operation on the convolution matrix and the original echo waveform; compare the...

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Abstract

The embodiment of the invention relates to the field of image processing, and particularly relates to a laser radar echo image processing method comprising the steps that an original echo waveform diagram is read in; the convolution matrix and the threshold are defined; convolution operation is performed on the convolution matrix and the original echo waveform diagram; the operation result is compared with the threshold, and a new matrix having the same size with that of the original echo waveform diagram is acquired; multiplication operation is performed on the new matrix and the original echo waveform diagram so as to acquire the medium processing waveform diagram; the medium processing waveform diagram is extracted by using the mathematical mean algorithm so as to acquire the space target laser detection echo data; and image restoration is performed on the echo data so as to acquire the target image. The echo image is enabled to be clearer.

Description

technical field [0001] The invention relates to the field of image processing, in particular to a laser radar echo image processing method. Background technique [0002] With its unique advantages compared to traditional measurement technologies, lidar has been rapidly applied to remote measurement, terrain detection, unmanned obstacle avoidance, etc. despite its short development time. Stripe principle Airborne lidar, as a typical representative of lidar, plays an important role in target reconnaissance, terrain mapping, and underwater target imaging. [0003] At present, in terms of hardware, the stripe principle lidar has achieved rapid development; in terms of software, it is far behind the pace of hardware development. Especially for the pre-processing part of the original echo signal, the amount of calculation is large and the difficulty is relatively high, which has become an important factor restricting the overall development of lidar. [0004] One of the solution...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01S7/487G01S7/493G01S17/89
Inventor 董志伟孙立羽陈德应樊荣伟
Owner HARBIN INST OF TECH