Long-distance photon counting three-dimensional laser radar imaging system and method thereof

Abstract

The invention discloses a long-distance photon counting three-dimensional laser radar imaging system and method, and the system obtains the flight time data of a target photon through employing a time-dependent photon counting technology in combination with an avalanche photodiode working in a Geiger mode, and carries out the analysis of original data through a special algorithm and software, therefore, the depth and reflectivity images of the long-distance target can be accurately reconstructed. According to the system, the problems that a traditional photon counting laser radar system is short in action distance and low in imaging speed are solved, and the application range of the photon counting laser radar system is effectively widened.

Description

technical field [0001] The invention belongs to the field of single-photon detection and imaging, and relates to a long-distance photon counting three-dimensional laser radar imaging system and a method thereof. [0002] technical background [0003] With the advancement and development of science and technology, the application of various unmanned driving and assisted driving systems is becoming more and more extensive, and the functions of intelligent robots are becoming more and more perfect, gradually replacing humans to complete various tasks that people cannot complete in harsh and complex environments. The accurate perception of the surrounding environment, such as surrounding road conditions and object orientation, by drones, unmanned vehicles and intelligent mobile robots is the basis for their wide application and the prerequisite for their normal operation and smooth execution of tasks. The ability of humans, vehicles and intelligent mobile robots to perceive the c...

AI Technical Summary

Problems solved by technology

However, the imaging distances of the above two imaging systems are all below 100 meters.

In 2014, a superconducting nanowire detector (SNSPD) was used to replace the traditional single photon detector based on the Geiger mode avalanche photodiode [Jia Tao. Infrared superconducting nanowire single photon detector [D]. 2014.], detection The sensitivity has been greatly improved, but SNSPD needs to go through a long cooling process before use, the volume and noise are huge, it is inconvenient to move, and it has almost no ability to be used portablely.

In 2011, Hong Jin Kong, Tae Hoon Kim and others proposed a method to simultaneously detect the echo signal of the photon counting laser ranging system by using two single photon detectors [Kong H J, Kim T H, Jo S E, et al. Smart three-dimensional imaging LADAR using two Geiger-mode avalanche photodiodes[J]. Optics Express,2011,19(20):19323-19329.], and the method of obtaining the final distance information through comparative analysis effectively improves the detection accuracy and reduces the The detection error of the photon counting laser ranging system is reduced, but the dual detector structure halves the available light source energy and reduces the ranging distance

Similarly, the imaging distance of the detection system is within 10m, and the scanning of the galvanometer limits the imaging speed

In 2016, Anu S et al. used wedge mirror scanning to increase scanning speed [AnuS, Hao T, Terence B, et al. Rapid, High-Resolution Forest Structure and TerrainMapping over Large Areas using Single Photon Lidar: [J]. Sci Rep,2016,6:28277.], but the wedge mirror has the disadvantages of difficult installation and high cost, which hinder the widening of the application range of the system

Images