A system for generating range image and intensity image of area array geiger apd lidar

Abstract

The present invention discloses a laser radar distance image and intensity image generation system of a surface array Geiger APD. The system comprises: a read-write control module configured to perform read-write operation of single-pulse detection values of continuous N frames and output single-pulse detection values of the continuous N frames at the same position; a transmission control module configured to control the single-pulse detection values of the continuous N frames at the same position to be input to a sparse pulse value histogram and enveloping histogram statistics module; the pulse value histogram and enveloping histogram statistics module configured to perform statistics of the single-pulse detection values of the continuous N frames at the same position to obtain a pulse value histogram and an enveloping histogram; a peak detection module for adaptive peak distinguishing configured to perform peak distinguishing according to the sparse pulse value histogram and enveloping histogram statistics module to obtain a distance image and an intensity value; and a multi-feature fusion threshold segmentation module configured to perform threshold segmentation of the distanceimage and the intensity image of the laser to obtain a target distance image and a target intensity image. The data passing rate is high and the resource consumption is low.

Description

technical field [0001] The invention belongs to the technical field of laser radar and digital circuit design, and more specifically relates to a range image intensity image generation system of an area array Geiger APD laser radar. Background technique [0002] The area array Geiger mode APD lidar 3D imaging system has the characteristics of high sensitivity, long working distance, fast imaging speed, and easy system miniaturization. It is suitable for systems with high real-time requirements and is one of the hot development directions of non-scanning laser active imaging solutions. one. [0003] For the laser data obtained by single-photon-triggered lidar, the method of multi-pulse accumulation is generally used at present, and the peak discriminant method is used to obtain the distance value to generate the laser range image and intensity image. If the algorithm is implemented by software, it needs to accumulate multi-frame and pixel-by-pixel statistical histograms to g...

AI Technical Summary

Problems solved by technology

[0005] Aiming at the above defects or improvement needs of the prior art, the present invention provides an area array Geiger APD lidar range image intensity image generation system, thereby solving the problem of low memory bandwidth utilization, waste of storage resources, Technical issues with interference from a large number of background noise points

Images