基于新型Canny算法雷达距离图像边缘检测算法

针对激光雷达距离像的噪声滤波和边缘检测问题,提出了一种结合改进环圈滤波算法和自适应Canny算法的距离像边缘检测算法.通过改进环圈滤波对距离像的噪声进行抑制,在滤除噪声的同时保留了图像的细节特征信息.从梯度幅值计算、非极大值抑制和阀值自动选择3个方面对传统Canny算法进行改进,克服了噪声影响和边缘检测模糊等缺点.实验结果表明,该算法能够可靠的对距离图像进行边缘检测,并且检测结果的信息熵和标准差指标数据优于传统的Sobel算法和Laplace算法,能够较好地满足激光雷达距离像边缘检测的实际需要.

Edge detection algorithm of radar range image based on new Canny algorithm

In order to solve the problem of noise filtering and edge detection in the range image of laser radar, an edge detection algorithm of range image in combination with both improved loop filtering algorithm and adaptive Canny algorithm was proposed. The noise of range image was suppressed through the improved loop filtering, and the detail feature information of the image was preserved at the same time of removing the noise. The traditional Canny algorithm was improved through the gradient magnitude calculation, non maximum suppression and automatic threshold selection, which overcomed such defaults as the noise effect and fuzzy edge detection. The results show that the proposed algorithm can reliably detect the edge of range image, the information entropy and standard deviation index data of detected results are superior to those of the traditional Sobel algorithm and Laplace algorithm, and the proposed algorithm can better meet the actual needs of range image edge detection of laser radar.