Reconstruction algorithm of Gm-APD LiDAR based on synchronized pseudo-random time coding

Abstract

Efficient photon counting imaging of long-range targets is challenging, especially in low signal-to-back ratio (SBR) situations. In this paper, a synchronized pseudo-random time coding detection method for Geiger-mode avalanche photodiode (Gm-APD) light detection and ranging (LiDAR) is proposed, which realizes Gm-APD LiDAR long-range detection by combining pseudo-random time coding and time of flight, and the multiple peaks are used to de-noise the image at the image level. Scenes of building with different SBR are simulated with Monte Carlo methods, and the effect of coding length on algorithm performance is discussed and compared with the performance of non-coding algorithms. The high performance of the proposed algorithm is verified by field experiments in low SBR scenes. Moreover, the proposed algorithm improves the target reconstruction correctness ratio by 70% over the other non-coding algorithms to 83% in the scene of building with SBR of 0.015, and has the smallest root mean square error (RMSE) of the distance. It improves the target integrity and provides the possibility of practical application of LiDAR target detection in very low SBR and long-range conditions, and even more support for target feature extraction and target recognition.