3D target detection of Geiger mode APD array lidar image

Abstract

The Geiger mode Avalanche Photo Diode (APD) array lidar is a non-scanning lidar, which has a small volume, fast imaging speed and high sensitivity. In the paper, the 3D target detection of Geiger mode APD array lidar image is studied. Geiger mode APD array lidar has great noise in the process of imaging due to its imaging characteristics. The paper analyzes its noise characteristics and decomposes the noise into four parts: environment noise, loss noise, internal noise and crosstalk noise. According to the noise characteristics, the paper simulated the Geiger-mode APD array lidar imaging. And based on this, the target detection algorithm was studied. The paper proposes a filtering method based on the KNN classification and combine an improved loop filtering algorithm to preprocess the image. And then an adaptive superposition algorithm is proposed to fuse the preprocessed multi-frame image. Testing the target detection algorithm on five image data captured by the Geiger mode APD array lidar, the medium-scale and small-scale targets can be detected in 20 frames. The largescale targets can be detected in 50 frames, and long-distance targets can be detected in 100 frames.