Quantitative data quality metrics for 3D laser radar systems

Abstract

Several quantitative data quality metrics for three dimensional (3D) laser radar systems are presented, namely: X-Y contrast transfer function, Z noise, Z resolution, X-Y edge & line spread functions, 3D point spread function and data voids. These metrics are calculated from both raw and/or processed point cloud data, providing different information regarding the performance of 3D imaging laser radar systems and the perceptual quality attributes of 3D datasets. The discussion is presented within the context of 3D imaging laser radar systems employing arrays of Geiger-mode Avalanche Photodiode (GmAPD) detectors, but the metrics may generally be applied to linear mode systems as well. An example for the role of these metrics in comparison of noise removal algorithms is also provided.