视觉引导的激光距离选通三维成像  

Vision-guided laser range-gated 3D imaging

作　　者：张思卿 刘晓泉 ZHANG Siqing;LIU Xiaoquan(Hubei Key Laboratory of Intelligent Robot,Wuhan Institute of Technology,Wuhan 430205,China;School of Artificial Intelligence,Wuhan Institute of Technology,Wuhan 430205,China)

机构地区：[1]武汉工程大学智能机器人湖北省重点实验室,湖北武汉430205 [2]武汉工程大学计算机科学与工程学院,湖北武汉430205

出　　处：《红外与激光工程》2024年第7期109-117,共9页Infrared and Laser Engineering

基　　金：国家自然科学基金项目(62305256);湖北省自然科学基金项目(2022CFC038);武汉工程大学科学基金研究项目(K2021054)。

摘　　要：由于可以抑制后向散射,距离选通三维成像在雾、雨、雪等恶劣天气下的远距离探测中展现出巨大潜力。传统方法利用光学成像机理建模实现,发展成熟,但存在性能依赖于硬件特性、系统灵活性差等问题;基于学习的方法克服了传统方法的硬件限制,但是未考虑选通图像特点,导致精度有限。针对上述问题,提出一种融合注意力机制的视觉引导方法,该方法从视觉层面出发,针对物体轮廓、纹理较弱等区域着重计算区域权重,提高区域预测精度;结合一种激光雷达深度补全算法,获得稠密深度真值图像用于模型监督,从而提升模型深度估计精度。实验结果表明,对比现有最先进的方法,在夜晚数据中平均绝对误差(Mean Absolute Error,MAE)提升了6.3%,均方根误差(Root Mean Square Error,RMSE)提升了2.3%,并在雾、雪天场景下得到更清晰的目标轮廓。Objective Laser range-gated 3D imaging is a new type of 3D imaging technology for long-distance detection.Fog, rain, snow and other severe weather conditions have been regarded as one of the technical challenges that hinder the landing of autonomous driving in recent years. This technology has the characteristics of suppressing backscattering and increasing the effective distance. At the same time, it can achieve 3D imaging of the target with millions of pixels, showing great potential for long-distance detection in severe weather such as fog, rain,and snow. Traditional gated 3D imaging methods have problems such as high system complexity, dependence on hardware characteristics, poor system flexibility, and difficulty in balancing accuracy and real-time performance.The existing visual guidance method does not consider the visual characteristics of the gated slice image, resulting in limited accuracy. Affected by the rear radiation, the traditional RGB camera effectively detects very low in the dense fog and strong light environment. Although scanning laser radar can obtain accurate distance information, it is limited by mechanical scanning angle, resulting in low space resolution of long-distance detection timing;They are difficult to meet the long-distance detection and perception needs of autonomous driving under bad weather conditions.Methods We proposed a vision-guided range-gated 3D imaging method that integrates an attention mechanism.Starting from the visual level, this method focuses on calculating regional weights for object contours, areas with weak textures, and other areas to improve regional prediction accuracy. A lidar depth completion algorithm is combined with the true value used for model supervision to obtain a dense depth truth image, thereby further improving the model's depth estimation accuracy.Results and Discussions The results are shown in Fig.6. In the figure, it can be seen from the rectangular box area that the proposed method has made a clear qualitative comparison with other methods.

关 键 词：距离选通三维成像 注意力机制 深度补全 视觉引导 

分 类 号：TN249[电子电信—物理电子学]