激光雷达距离像噪声抑制及方法评价

针对激光成像雷达距离像距离反常噪声的噪声抑 制问题,提出了一种改进环圈滤波(IDF)算法并进行了评价。首先,根据 激光雷达距离像噪声的构成,建立了一般化的距离像噪声仿真模型,模型中包含了地面、目 标和细小结构等成分,可模拟 距离反常、失落信息和内部噪声等噪声干扰；其次,提出了一种IDF噪声抑制算法的一般形 式,利用仿真模型对中 值滤波(MF)、IDF等噪声抑制算法进行了分析,对计算结果从整体、非异常 值和细小结构等多个方面, 评价了算法的噪声抑制能力和保护目标细节信息能力；最后,采用实测距离像对算法进行了 验证。研究结果表明,利用建立 的距离像噪声仿真模型,可以有效地评价不同噪声抑制算法的 能力；同时,利用IDF可 以根据目标特性选取校正系数,在满足算法对保护目标细节信息能力要求的前提下,提高噪 声抑制能力。

Noise suppression and the method evaluation for ladar range images

An improved donut filter (IDF) algorithm is proposed and evaluated to restra in the outliers in the ladar range images.First,a generalized noise simulation model of ladar range image is proposed based on the analysis of the composition of the noises in ladar range image,which takes the ground,objects,and detailed parts into account,a nd can simulate such noise disturbance as outliers, dropouts and internal noise as well.Secondly,an improved donut filter (IDF) algo rithm to suppress the noise is proposed.Different noise suppression algorithms,such as median filter and improved donut filter,are analy zed by means of the simulation model and the results are also discussed from the points of the entirety,no outliers and detai led parts.Their capabilities in suppressing noise and protecting the detailed information are evaluated as well.Finally,the improved donut filte r algorithm is verified by analyzing the measured data. The results show that the capabilities of different noise suppression algorithms can be evaluated effectively based on the proposed simulation model and by means of mathematical analysis.Meanwhile,the correctio n coefficient of the improved donut filter can be obtained based on the target features,which can improve the capability of suppre ssing noise and protect the detailed information.