【摘要】 分析了距离像的噪声作用机理:距离反常时测量值表现为统计上的平均分布,而距离正常时测量值为一高斯分布.据此提出了一种基于局部直方图的激光雷达距离像距离反常的抑制算法:利用局部直方图判断当前像素是否为反常像素,将反常像素用最可几距离值代替,达到抑制距离反常的目的.对仿真图像处理结果表明此算法能较好地抑制距离反常.将其应用于真实获得的雷达距离像处理,对两个相距77 m目标的激光雷达距离图像处理后,两个目标都获得了均匀的距离灰度值,图像灰度显示两目标相距75 m,与实际距离吻合很好.更多还原

【Abstract】 The noises mechanism of range image is analyzed in this paper: range anomalies result in average distribution while range normalies result in Gaussian distribution. To this end, a laser radar range image suppression algorithm based on local histogram is put forward: Apply the local histogram to judge pixel anomalies and remove by optimum distance so as to achieve range anomalies suppression. Apply it to the process of actual laser radar range image and get satisfying results. The range information from the processed laser range image shows that the distance between the two objects is 75 m, reflects the actual objects′ interval (77 m) exactly. Both the targets obtain mean range grayscale value.更多还原