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Range Image Synthesis for Imaging Laser Radar with Small APD Arrays

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Tutor: ZhangYu
School: Harbin Institute of Technology
Course: Optics
Keywords: APD array,matrix scanning,dual-wedge scanner,range image synthesis
CLC: TN958.98
Type: Master's thesis
Year:  2012
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Due to the avalanche photodiodes(APDs) array imaging laser radar with thecharacteristics of ultra-high sensitivity, foliage penetration, high anti-jamming becominga hot topic in the researching area. LIDAR(laser radar) with array scanners is systembetween single beam scanning LIDAR and non-scanning LIDAR, with the longdetection range of single beam scanning LIDAR and high sensitivity of non-scanningLIDAR both, which is the most practical prospect of imaging LIDAR system.In this paper, to begin with, we introduce the development of the APD arrays andthe imaging LIDAR system with APD arrays. Second, the working principle of the APDarrays, the double wedge scanning system, the double plane mirror system, and theCMOS readout integrated circuit (ROIC) system are stated, in addition, we introducethe basic algorithm of LIDAR image processing. In the third part of the paper, wefurther discuss the relationship between the dot-matrix and the initial phase of thedouble wedge, the wedge angle of the wedge, the rotation of the two optical wedge, thedetection distance of the LIDAR, the repetition frequency of the laser, we come to theconclusion that the reset initial phase angle has influence on the petal count of the roseline, the wedge angle and the detection distance of the LIDAR has effect on thescanning amplitude, the rotation of the two optical wedge influence the petal count also,the repetition frequency of the laser react the density of the dot-matrix. we come to aconclusion that the lateral resolution of dot-matrix in the Rose line scanner is nonuniform, then, we give the error expression of parameters and the dot-matrix, andsimulate scanning performance of typical scanners, and get the scanning trajectory andthe error distribution. In the fourth part, from the characters of LIDAR system withAPD array and double-wedge scanner, the noise mode, we establish the simulationmodel,which include three steps, they are the classify the data based on the samplingresolution while pre-processing, the position-range mode for range image synthesis, themethod of neighbor average filtering focus on the empty part after sampling, accordingto the established mode, we simulate the distance image of the LIDAR with APD array,the results shows that the feasibility of the method of position-range image processingfor imaging is testified. besides we evaluate the result by imaging assessment process,after that, we use the common standards for the evaluation, it shows that the method weused has a evident effect on noise suppression. At last, we process the data using themodel, which is the experimental result of our laboratory of the dual-wedge imagingLIDAR with small APD arrays, and we get the range image.
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