Laser radar echo waveform denoising method based on gradient window width weight correction

• Main Authors: ZHAO YIQIANG, XIA XIANZHAO, WANG PINQUAN
• Format: Patent
• Language: Chinese; English
• Published: 15.01.2021
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; TESTING

The invention discloses a laser radar echo waveform data denoising method based on gradient window width weight correction. The method comprises the following steps of obtaining a group of echo data,calculating a reflection waveform gradient through employing a Box filter, and obtaining a normalized gradient parameter; correcting the dynamic window width weight according to the gradient of the pixel point, and calculating a window width weight correction function; and considering the window width weight correction function determined by pixel point gradients one by one to obtain a dynamic window width weight filtering function, performing filtering processing on the input waveform, and outputting the filtered waveform. According to the method, the window width weight of the Gaussian filter is dynamically and finely adjusted and corrected according to the gradient of pixel points of the noise-containing waveform, and the window width weight is dynamically changed through the gradient of the waveform pixel poin