Gm-APD Lidar Distance Image Recovery Based on Intensity Image Target Edge Guidance

Abstract Gm-APD LiDAR in the detection of long-distance targets, the laser by the atmospheric effects of attenuation is serious, so that the target echo sparse, easy to cause the target distance like edge missing, details of fuzzy and other problems, the traditional method can’t make targeted treatment of the above problems. Therefore, this paper proposes a Gm-APD LIDAR distance image recovery method based on intensity image target edge guidance. The method introduces one-dimensional intensity information as an aid, combines the inverse distance weighting function to guide the reconstruction of the target edge contour information of the distance image, and then applies morphological image processing to correct the target distance value in a partition, and recovers a distance image with sharp edges and clear details. Experiments are carried out on the distance targets, and the results show that the method improves the target restoration by 19.21% and the peak signal-to-noise ratio by 3.12% compared with the concave morphology restoration algorithm, which verifies the advantages and effectiveness of the method proposed in this paper.