激光雷达三维距离像超分辨重构方法研究  

Research on super resolution reconstruction of laser radar range profile

作　　者：龚道然 李思宁[1] 姜鹏 刘迪[1] 孙剑峰[1] Gong Daoran;Li Sining;Jiang Peng;Liu Di;Sun Jianfeng(National Key Laboratory of Science and Technology on Tunable Laser,Institute of Opto-Electronic,Harbin Institute of Technology,Harbin 150001,China;Science and Technology on Complex System Control and Intelligent Agent Cooperation Laboratory,Beijing 100074,China)

机构地区：[1]哈尔滨工业大学光电子技术研究所可调谐激光技术国家级重点实验室,黑龙江哈尔滨150001 [2]复杂系统控制与智能协同技术重点实验室,北京100074

出　　处：《红外与激光工程》2020年第8期52-58,共7页Infrared and Laser Engineering

摘　　要：针对目前激光雷达三维距离像分辨率低的问题,使用成本低且有效的图像处理方法获得高分辨三维距离像。首先,利用多传感器系统的特点,将低分辨率Gm-APD激光雷达与高分辨率ICCD激光雷达相结合,获得配准后的低分辨距离像和高分辨强度像,然后,提出了一种改进的图像引导算法实现低分辨图像超分辨重构。该方法使用马尔科夫随机场模型,定义了全局能量函数,该函数将距离保真项和正则化项相结合,通过求解优化模型获得高分辨三维距离像。通过对仿真图像和激光雷达距离像的超分辨重构处理,以主观视觉效果和图像质量客观评价指标来验证此方法。实验结果表明,该方法提高了距离像的分辨率,且很好地保护了图像的边缘结构,在无参考图像质量评价指标上较双三次插值、引导滤波和TGV取得更优值。To solve the problem of low resolution of three-dimensional range profile of lidar,a low cost and effective image processing method was used to obtain high resolution three-dimensional range profile.Firstly,according to the characteristics of multi-sensor system,low-resolution Gm-APD lidar and high-resolution ICCD lidar were combined to obtain low-resolution range profile and high-resolution intensity image after registration.Then,an improved image guidance algorithm was proposed to realize super-resolution reconstruction of lowresolution image.Markov random field model was used to define the global energy function,which combined the distance fidelity term with regularization term,and high resolution three-dimensional range profile was obtained by solving the optimization model.By super-resolution reconstruction of simulated image and lidar range profile,the method was validated by objective evaluation indexes of subjective visual effect and image quality.The experimental results show that the method improves the resolution of range profile and protects the edge structure of the image well.It achieves better results than bicubic interpolation,guided filtering and TGV in the evaluation index of no-reference image quality.

关 键 词：超分辨重构 激光雷达 三维距离像 ICCD 

分 类 号：TN958.98[电子电信—信号与信息处理]