Single-photon lidar point cloud denoising method based on multimode guiding and related devices

Abstract

The application discloses a single-photon lidar point cloud denoising method based on multi-mode guidance and related equipment, and belongs to the field of lidar signal processing and computer vision. The three-dimensional point cloud of the single-photon lidar, the infrared image and the visible light image are synchronously collected; the infrared image and the visible light image are extracted and fused in parallel to generate multi-mode image guidance features; after the features of the point cloud are extracted, the features are projected onto the image plane to form spatially aligned alignment point cloud feature maps; the two features are interacted through bidirectional cross-attention calculation, the obtained features and the original features are aggregated, and then integrated through a multilayer perception machine to obtain multi-modal joint features; the joint features are decoded to output a denoising weight map and a signal enhancement map; the original point cloud is projected onto the image plane, noise points are filtered out by using the denoising weight map, and the reflection intensity of the reserved points is enhanced by using the signal enhancement map to generate a denoised three-dimensional image. The application realizes accurate noise filtering and effective signal enhancement, and improves the quality of the point cloud.

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