A spatially correlated fractional integral-based method for denoising geiger-mode avalanche photodiode light detection and ranging depth images

Abstract

Geiger-mode avalanche photodiode (GM-APD) light detection and ranging (LiDAR) target echo signals are susceptible to interference from atmospheric backscatter, daylight, and other noise, and extracted target depth images contain a large amount of anomalous noise. Accordingly, this paper devises a method based on a spatially correlated fractional integral for denoising GM-APD LiDAR depth images. First, a multi-scale superpixel fusion algorithm is employed to perform null-pixel complementation on a target depth image extracted using histogram statistics. Next, a pixel neighborhood spatial correlation kernel function is used to optimize the Grünwald–Letnikov fractional integral operator to correct the large amount of anomalous noise and thus achieve GM-APD depth image denoising. Simulation and experimental results demonstrate that the denoising performance of the algorithm on GM-APD LiDAR depth images is significantly better than that of median filtering and bilateral filtering, with at least 22.8 % and 4.8 % improvements in the target reduction degree (K) and peak signal-to-noise ratio (PSNR), respectively. In addition, the K and PSNR reach 91.36 % and 18.0241 dB, respectively, with 25 statistical frames in an outdoor imaging experiment. This demonstrates that the algorithm can effectively denoise GM-APD LiDAR depth images with few statistical frames and thus improve the frame rate of GM-APD LiDAR imaging.