An image preprocessing method for area array Geiger APD lidar imaging

Abstract

The invention discloses an image preprocessing method of an area array Geiger APD laser imaging radar, which belongs to the technical field of laser radar. This method first collects the single-pulse detection result data of the target area array Geiger APD laser imaging radar; then accumulates multiple single-pulse detection results, and uses the adaptive peak discrimination method to generate multi-pulse cumulative laser intensity images and distance images; then multi-pulse cumulative The laser intensity image and the distance image are segmented adaptively by threshold value to generate the intermediate denoised laser intensity image and distance image; finally, the grayscale morphological operation is performed on the intermediate denoised laser distance image to obtain the denoised laser distance with a high signal-to-noise ratio The denoised laser intensity image is obtained according to the denoised laser distance image. According to the characteristics of laser imaging radar data, this method can adaptively process laser data when the target echo signal is weak, improve the algorithm's ability to distinguish target echo and noise, effectively remove the abnormal distance noise in the image, and improve the image quality. SNR.

Description

technical field [0001] The invention belongs to the technical field of laser radar, and more specifically relates to an image preprocessing method of an area array Geiger APD laser imaging radar. Background technique [0002] The Geiger APD array detector is a single-photon detector that can detect weak light signals and is widely used in the low-light detection neighborhood. The single-photon counting laser 3D imaging system using Geiger APD array detectors has great development potential due to its high sensitivity, long range, fast imaging speed, and easy system miniaturization, and is a hot spot for non-scanning laser active imaging solutions One of the directions of development. At present, the laser imaging radar with the domestic self-developed Geiger APD area array detector as the core device has been able to realize long-distance target detection and has the research conditions for practical application. [0003] The working principle of the Geiger APD area array ...

AI Technical Summary

Problems solved by technology

However, when the cumulative number of wide-pulse cumulative detection is small, there are only a few scattered detection results in the target echo distribution interval. Under the interference of noise, the above two algorithms cannot effectively obtain the target distance information and obtain the laser image of the target.

The multi-pulse accumulation method will also retain a large amount of background noise, and form abnormal distance noise at the target point in the image where accurate distance information cannot be obtained. The generated laser range image and intensity image have a low signal-to-noise ratio, which is difficult to use Subsequent research work

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