Photon point cloud denoising method and system based on laser radar channel line scanning characteristics

A laser radar and point cloud denoising technology, applied in the field of photon point cloud denoising, can solve the problems of photon detection data with many noise points, low denoising accuracy, poor universality, etc., and achieve good denoising effect, denoising High noise accuracy and the effect of removing noise points
CN112684458AActive Publication Date: 2021-04-20NAT UNIV OF DEFENSE TECH
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
NAT UNIV OF DEFENSE TECH
Publication Date
2021-04-20

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Abstract

The invention provides a photon point cloud denoising method and system based on laser radar channel line scanning characteristics. The method comprises the following steps: calculating a k density value of each photon point; removing the photon points of which the k density values are greater than a first threshold value; calculating the slope between each projection point and the nearest projection point; calculating the slope of a laser radar channel detection direction; performing interval division on the first residual photon points along the detection direction of the laser radar channel; calculating the length of each interval; calculating Euclidean distances from the first residual photon point corresponding to the minimum k density value in each interval to other first residual photon points; removing the first residual photon points of which the Euclidean distances are greater than a second threshold value in each interval; extracting an interval of which the interval length is greater than two times of a second threshold value; calculating the average Euclidean distance of each second residual photon point in each extraction interval; and removing the second residual photon points of which the average Euclidean distance is greater than a third threshold value in each extraction interval. According to the invention, signal-to-noise separation can be effectively realized.
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Description

technical field

[0001] The invention belongs to the technical field of laser radar, and in particular relates to a photon point cloud denoising method and system based on the characteristics of laser radar channel line scanning. Background technique

[0002] Lidar uses lasers as the radiation source, which can accurately detect the distance, position, and movement trajectory of the target, and measure the scattering cross-section and shape of the target. However, the conventional laser radar uses semiconductor detectors working in the linear avalanche gain mode. Because of its high detection threshold, it needs to receive enough echo photons to obtain the echo signal. Therefore, when the laser radar detects distant objects, it needs a large Power and low repetition frequency lasers provide energy drive, which leads to large problems in traditional lidar in terms of volume, detection distance and detection accuracy of small and far targets.

[0003] Photon counting lidar is ...

Claims

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