激光雷达距离像去噪和边缘检测算法研究
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摘要
成像激光雷达是激光技术与雷达技术相结合而产生的新型雷达。成像激光雷达自动目标识别就是对成像激光雷达所获取的原始图像进行图像预处理、图像分割、特征提取和模式分类等处理,最终实现对目标的自动识别。图像分割是图像处理和分析的关键步骤,对后续高层次的特征描述、匹配和识别等有着重大的影响。
本论文主要内容有:
1、分析了成像激光雷达图像自动目标识别的研究背景与意义,研究了成像激光雷达成像机理、成像激光雷达距离选通、噪声抑制、图像分割的国内外研究现状和技术途径。
2、在分析典型成像激光雷达系统的基础上,将用于抑制后向散射的距离选通技术应用到了三维成像激光雷达上,并采用二值化算法合成距离三维像。
3、提出了一种基于Contourlet变换的成像激光雷达自适应阈值去噪方法。实验表明,该算法效果较好,能有效地抑制距离反常噪声,较好地保护激光图像中目标的边缘细节。
4、通过对激光雷达图像的成像特性分析,提出了一种基于改进拉普拉斯金字塔( LP )塔形分解的多尺度融合的边缘提取算法,该算法能有效地检测边缘。
The imaging laser radar is a new kind of radar which combined laser technique and radar technique. The automatic recognition of the imaging laser radar used the technology of image segmentation, feature extraction and pattern list to deal with the image which has been captured by it to realize the automatic target recognition. Image segmentation is a very important step in image process. It has great effect to the feature extraction, marching and recognition.
The main work of this paper is:
1、Introduce the background of the research on imaging laser radar to recognition target automatically and describe the system of the imaging laser radar. Summary the approach of the range gated, noise reduction and segmentation in the imaging laser radar at home and abroad.
2、After analyzing the system of the typical imaging laser radar, use the technology of noise reduction range gated to the 3-D imaging laser radar and use the algorithm of binarizing to the distance 3-D image.
3、This paper proposed a new method to reduce the noise by contourlet transform. By experiment, it shows that the new algorithm can achieve better effect than traditional ways and protect the target's edge minutiae in the image.
4、After analyzing the imaging characteristics of laser radar image, a multiscale edge detection algorithm based on Laplacian Pyramid was proposed. This algorithm can detect edges of images reliably and effectively.
本论文主要内容有:
1、分析了成像激光雷达图像自动目标识别的研究背景与意义,研究了成像激光雷达成像机理、成像激光雷达距离选通、噪声抑制、图像分割的国内外研究现状和技术途径。
2、在分析典型成像激光雷达系统的基础上,将用于抑制后向散射的距离选通技术应用到了三维成像激光雷达上,并采用二值化算法合成距离三维像。
3、提出了一种基于Contourlet变换的成像激光雷达自适应阈值去噪方法。实验表明,该算法效果较好,能有效地抑制距离反常噪声,较好地保护激光图像中目标的边缘细节。
4、通过对激光雷达图像的成像特性分析,提出了一种基于改进拉普拉斯金字塔( LP )塔形分解的多尺度融合的边缘提取算法,该算法能有效地检测边缘。
The imaging laser radar is a new kind of radar which combined laser technique and radar technique. The automatic recognition of the imaging laser radar used the technology of image segmentation, feature extraction and pattern list to deal with the image which has been captured by it to realize the automatic target recognition. Image segmentation is a very important step in image process. It has great effect to the feature extraction, marching and recognition.
The main work of this paper is:
1、Introduce the background of the research on imaging laser radar to recognition target automatically and describe the system of the imaging laser radar. Summary the approach of the range gated, noise reduction and segmentation in the imaging laser radar at home and abroad.
2、After analyzing the system of the typical imaging laser radar, use the technology of noise reduction range gated to the 3-D imaging laser radar and use the algorithm of binarizing to the distance 3-D image.
3、This paper proposed a new method to reduce the noise by contourlet transform. By experiment, it shows that the new algorithm can achieve better effect than traditional ways and protect the target's edge minutiae in the image.
4、After analyzing the imaging characteristics of laser radar image, a multiscale edge detection algorithm based on Laplacian Pyramid was proposed. This algorithm can detect edges of images reliably and effectively.
引文
[1]孙志慧,邓甲昊,闫小伟.国外激光成像探测系统的发展现状及其关键技术.科技导报,2008,26(3):74~79.
[2]梅遂生.光电子技术--信息化武器装备的新天地(第2版).北京:国防工业出版社, 2008, 76.
[3]黄培康,袁起,朱振福,费锦东.光学精确制导技术的发展现状与展望.红外与激光工程, 2007, 36(增刊): 1~6.
[4]马超杰,许鹏程,吴丹,杨华.成像激光雷达在自动目标识别中的应用.航空兵器,2008(4): 3~10.
[5]陈晓清,马君国,赵宏钟,付强.激光成像雷达自动目标识别技术综述.现代防御技术,2009(37):
[6]熊辉飞.激光雷达.北京:宇航出版社, 1994.
[7]戴永江.激光雷达原理.北京:国防工业出版社, 2002.
[8]易翔,王蔚然.激光雷达系统仿真软件设计与实现.激光与红外,2003,33(3):178—180.
[9]徐效文.应用激光主动成像探测小暗目标的技术研究.长春:中国科学院长春光学精密机械与物理研究所,2004.
[10]徐效文,郭劲.距离选通激光主动成像技术研究进展.激光杂志,2004,24(5): 46~47
[11] J.Busck,H.Heiselberg.Gated viewing and High Accuracy Three-Dimensional Laser Radar.Applied Optics,2004,43,No.24:4705~4710
[12] J.Busck,H.Heiselberg,High Accuracy 3-D Laser Radar.Proc.SPIE,2004, 5412:257~263
[13] J.Busck.Underwater 3-D Optical Imaging with a Gated viewing Laser radar.optical Engineering,2005,44:160011~160017
[14] H.Tulldahl,P.Andersson,A.Olsson,A.Andersson.Experimental Evaluation of underwater Range-gated viewing in Natural Waters.Proc.SPIE,2006,6395:6395 506~1~8
[15]王祥科.小型化激光主动成像系统研究.长沙:国防科技大学,硕士学位论文, 2007.
[16]阮秋琦,阮宇智.数字图像处理.北京:电子工业出版社, 2006.
[17] Saban I, Faibish S. Image processing techniques for laser images.in Proceedings of CCECE 96 [C], 1996: 462~465.
[18]王永珍.相干激光成像雷达距离像噪声抑制与边缘检测算法研究.哈尔滨:哈尔滨工业大学,硕士论文, 2005.
[19] Green T J, Shapiro J H. Maximum-likelihood laser radar range image profilingwith the expectation-maximization algorithm. Opt. Eng, 1992, 31(11):
[20] Greer D R, Fung I, Shapiro J H. Maximum-likelihood multiresolution laser radar range imaging. IEEE transations on image processing, 1997, 6(1): 36~46.
[21]沈严,杨志卿.距离图像的分层滤波处理算法.西安电子科技大学学报(自然科学版), 2003, 30(1): 136~140.
[22]李琦,王永珍,王骐,李自勤.相干激光雷达距离像的噪声抑制算法研究.光学学报, 2005, 25(5): 581~584.
[23]李琦,王骐,李自勤,李霖. CO2激光成像雷达图像处理分析.中国激光.2002, 29(9): 826~828.
[24]章毓晋.图像工程(中册)图像分析(第二版).北京:清华大学出版社,2005.
[25]杨烜,梁德群.基于边缘视觉描述的自适应多尺度小波边缘检测方法.电子科学学刊, 1998, 20(6): 721-725.
[26]邓世伟,袁保宗.基于数学形态学的深度图象分割.电子学报, 1995,23(4): 6-9.
[27] Besl P J, Jain R C. Segmentation through variable-order surface fitting.IEEE Trans. PAMI, 1988, 10: 167-192.
[28] Zhu S C, Yuille A. Region competition: unifying snakes, region growing, and Bayes/MDL for multi-band image segmentation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1996, 18(9): 884-900.
[29]张涛,平西建,柳葆芳等.一种深度图像中的表面曲率估计算法.数据采集与处理, 2001, 16(1): 47-51.
[30] Schmitt F, Chen X. Fast segmentation of range images into planar regions [J].IEEE, 1991: 710-711.
[31] Hoover A, Baptiste G J, Jiang X. An Experimental Comparison of Range Image Segmentation Algorithms [J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1998, 18(7): 673-689.
[32]何明一,卫保国.数字图像处理.北京:科学出版社.2008.
[33]柏连发,张毅,陈钱,顾国华.距离选通成像实现过程中若干问题的探讨.红外与激光工程,2009,38(1):57-61
[34]王冬梅,张涛,闫丰.基于距离选通的激光主动照明技术的研究.微计算机信息(测控自动化),2006,22(7-1):48-50
[35]赵岩,翟百臣,王建立,陈涛.激光距离选通成像同步控制系统的设计与实现.红外与激光工程,2005,35(5):526-529
[36]刘云.基于激光成像及其图像处理技术的煤位检测研究.合肥:安徽理工大学,硕士学位论文,2008.
[37]王智.基于激光主动成像图像的多帧后处理算法研究.长春:中国科学院长春精密机械与物理研究所,博士论文,2006.
[38]原蒲升.距离选通阵列探测3D成激光雷达的实验研究.哈尔滨,哈尔滨工业大学,硕士学位论文,2007.
[39]卢京晶,方中华,孙胜利.一种自适应的加权均值滤波器.传感技术学报, 2005, 18(4): 880~882.
[40]郎锐.数字图像处理学Visual C++实现.北京:北京希望出版社,2003.
[41]陈书海,傅录祥.实用数字图像处理.北京:科学出版社, 2005.
[42]曹茂永等.数字图像处理.北京:北京大学出版社, 2007.
[43]陈传波,金先级.数字图像处理.北京:机械工业出版社, 2004.
[44] Minh N Do ,Martin Vetterli.The Contourlet Transform:An Efficient Directional Multiresolution Image Representation.IEEE Transaction On Image rocessing. 2004:1-16
[45]郭雷,李晖晖,鲍永生.图像融合.北京:电子工业出版社.2008.
[45] Burt P J, Adelson E H. The Laplacian Pyramid as a Compact Image Code. IEEE Trans. Communications, 1983, 31(4): 532-540
[46] Do M N ,Vetterli M. The Contourlet Transform: An Efficient Directional Multiresolution Image Representation. IEEE Trans. Image Processing, 2005:1-16
[47] Phoong S M, Kim C W, et al. A new class of two-channel biorthogonal filter banks and wavelet bases. IEEE Trans. Signal Proc. 1995, 43: 649-665
[48] Donoho D L. De-noising by soft-thresholding. IEEE Trans. on Information Theory, 1995,41:613-627
[49] Yuan X H, Buckles B P. Subband noise estimation for adaptive wavelet shrinkage. ICPR 2004. Proceedings of the 17th International Conference on Pattern Recognition, 2004, 4: 858-888
[50] Chang S G, Yu B, Vetterli M. Adaptive wavelet threshoding for image denoising and compression. IEEE Trans. Image Proc.2000, 9(9):1532-1546
[51]孙即祥,数字图像处理.河北出版社,1993
[52]陈哲,李琦,王骐.相干激光雷达距离像背景抑制方法比较和分析.激光与红外.2006, 36(12): 1120~1123.
[53]赖旭东.机载激光雷达基础原理与应用.北京:电子工业出版社,2010.
[54]刘榴娣,刘明奇,党长民.实用图像处理.北京:北京理工大学出版社,2003.
[55]吴镇扬,周琳.数字信号与图像处理.北京:高等教育出版社.2006.
[56]付丽华,陈涛,李落清.基于方向小波变换的边缘检测.湖北大学学报(自然科学版),2003,25(2):95-99
[57]宗孔德.多抽样率信号处理.北京:清华大学出版社,1996.
[58]陈晓清.激光成像雷达目标识别算法研究.长沙:国防科学技术大学,博士论文,2010
[59]董鸿燕.边缘检测的若干技术研究.长沙:国防科学技术大学,博士论文,2008
[2]梅遂生.光电子技术--信息化武器装备的新天地(第2版).北京:国防工业出版社, 2008, 76.
[3]黄培康,袁起,朱振福,费锦东.光学精确制导技术的发展现状与展望.红外与激光工程, 2007, 36(增刊): 1~6.
[4]马超杰,许鹏程,吴丹,杨华.成像激光雷达在自动目标识别中的应用.航空兵器,2008(4): 3~10.
[5]陈晓清,马君国,赵宏钟,付强.激光成像雷达自动目标识别技术综述.现代防御技术,2009(37):
[6]熊辉飞.激光雷达.北京:宇航出版社, 1994.
[7]戴永江.激光雷达原理.北京:国防工业出版社, 2002.
[8]易翔,王蔚然.激光雷达系统仿真软件设计与实现.激光与红外,2003,33(3):178—180.
[9]徐效文.应用激光主动成像探测小暗目标的技术研究.长春:中国科学院长春光学精密机械与物理研究所,2004.
[10]徐效文,郭劲.距离选通激光主动成像技术研究进展.激光杂志,2004,24(5): 46~47
[11] J.Busck,H.Heiselberg.Gated viewing and High Accuracy Three-Dimensional Laser Radar.Applied Optics,2004,43,No.24:4705~4710
[12] J.Busck,H.Heiselberg,High Accuracy 3-D Laser Radar.Proc.SPIE,2004, 5412:257~263
[13] J.Busck.Underwater 3-D Optical Imaging with a Gated viewing Laser radar.optical Engineering,2005,44:160011~160017
[14] H.Tulldahl,P.Andersson,A.Olsson,A.Andersson.Experimental Evaluation of underwater Range-gated viewing in Natural Waters.Proc.SPIE,2006,6395:6395 506~1~8
[15]王祥科.小型化激光主动成像系统研究.长沙:国防科技大学,硕士学位论文, 2007.
[16]阮秋琦,阮宇智.数字图像处理.北京:电子工业出版社, 2006.
[17] Saban I, Faibish S. Image processing techniques for laser images.in Proceedings of CCECE 96 [C], 1996: 462~465.
[18]王永珍.相干激光成像雷达距离像噪声抑制与边缘检测算法研究.哈尔滨:哈尔滨工业大学,硕士论文, 2005.
[19] Green T J, Shapiro J H. Maximum-likelihood laser radar range image profilingwith the expectation-maximization algorithm. Opt. Eng, 1992, 31(11):
[20] Greer D R, Fung I, Shapiro J H. Maximum-likelihood multiresolution laser radar range imaging. IEEE transations on image processing, 1997, 6(1): 36~46.
[21]沈严,杨志卿.距离图像的分层滤波处理算法.西安电子科技大学学报(自然科学版), 2003, 30(1): 136~140.
[22]李琦,王永珍,王骐,李自勤.相干激光雷达距离像的噪声抑制算法研究.光学学报, 2005, 25(5): 581~584.
[23]李琦,王骐,李自勤,李霖. CO2激光成像雷达图像处理分析.中国激光.2002, 29(9): 826~828.
[24]章毓晋.图像工程(中册)图像分析(第二版).北京:清华大学出版社,2005.
[25]杨烜,梁德群.基于边缘视觉描述的自适应多尺度小波边缘检测方法.电子科学学刊, 1998, 20(6): 721-725.
[26]邓世伟,袁保宗.基于数学形态学的深度图象分割.电子学报, 1995,23(4): 6-9.
[27] Besl P J, Jain R C. Segmentation through variable-order surface fitting.IEEE Trans. PAMI, 1988, 10: 167-192.
[28] Zhu S C, Yuille A. Region competition: unifying snakes, region growing, and Bayes/MDL for multi-band image segmentation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1996, 18(9): 884-900.
[29]张涛,平西建,柳葆芳等.一种深度图像中的表面曲率估计算法.数据采集与处理, 2001, 16(1): 47-51.
[30] Schmitt F, Chen X. Fast segmentation of range images into planar regions [J].IEEE, 1991: 710-711.
[31] Hoover A, Baptiste G J, Jiang X. An Experimental Comparison of Range Image Segmentation Algorithms [J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1998, 18(7): 673-689.
[32]何明一,卫保国.数字图像处理.北京:科学出版社.2008.
[33]柏连发,张毅,陈钱,顾国华.距离选通成像实现过程中若干问题的探讨.红外与激光工程,2009,38(1):57-61
[34]王冬梅,张涛,闫丰.基于距离选通的激光主动照明技术的研究.微计算机信息(测控自动化),2006,22(7-1):48-50
[35]赵岩,翟百臣,王建立,陈涛.激光距离选通成像同步控制系统的设计与实现.红外与激光工程,2005,35(5):526-529
[36]刘云.基于激光成像及其图像处理技术的煤位检测研究.合肥:安徽理工大学,硕士学位论文,2008.
[37]王智.基于激光主动成像图像的多帧后处理算法研究.长春:中国科学院长春精密机械与物理研究所,博士论文,2006.
[38]原蒲升.距离选通阵列探测3D成激光雷达的实验研究.哈尔滨,哈尔滨工业大学,硕士学位论文,2007.
[39]卢京晶,方中华,孙胜利.一种自适应的加权均值滤波器.传感技术学报, 2005, 18(4): 880~882.
[40]郎锐.数字图像处理学Visual C++实现.北京:北京希望出版社,2003.
[41]陈书海,傅录祥.实用数字图像处理.北京:科学出版社, 2005.
[42]曹茂永等.数字图像处理.北京:北京大学出版社, 2007.
[43]陈传波,金先级.数字图像处理.北京:机械工业出版社, 2004.
[44] Minh N Do ,Martin Vetterli.The Contourlet Transform:An Efficient Directional Multiresolution Image Representation.IEEE Transaction On Image rocessing. 2004:1-16
[45]郭雷,李晖晖,鲍永生.图像融合.北京:电子工业出版社.2008.
[45] Burt P J, Adelson E H. The Laplacian Pyramid as a Compact Image Code. IEEE Trans. Communications, 1983, 31(4): 532-540
[46] Do M N ,Vetterli M. The Contourlet Transform: An Efficient Directional Multiresolution Image Representation. IEEE Trans. Image Processing, 2005:1-16
[47] Phoong S M, Kim C W, et al. A new class of two-channel biorthogonal filter banks and wavelet bases. IEEE Trans. Signal Proc. 1995, 43: 649-665
[48] Donoho D L. De-noising by soft-thresholding. IEEE Trans. on Information Theory, 1995,41:613-627
[49] Yuan X H, Buckles B P. Subband noise estimation for adaptive wavelet shrinkage. ICPR 2004. Proceedings of the 17th International Conference on Pattern Recognition, 2004, 4: 858-888
[50] Chang S G, Yu B, Vetterli M. Adaptive wavelet threshoding for image denoising and compression. IEEE Trans. Image Proc.2000, 9(9):1532-1546
[51]孙即祥,数字图像处理.河北出版社,1993
[52]陈哲,李琦,王骐.相干激光雷达距离像背景抑制方法比较和分析.激光与红外.2006, 36(12): 1120~1123.
[53]赖旭东.机载激光雷达基础原理与应用.北京:电子工业出版社,2010.
[54]刘榴娣,刘明奇,党长民.实用图像处理.北京:北京理工大学出版社,2003.
[55]吴镇扬,周琳.数字信号与图像处理.北京:高等教育出版社.2006.
[56]付丽华,陈涛,李落清.基于方向小波变换的边缘检测.湖北大学学报(自然科学版),2003,25(2):95-99
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