CN115469325A - Laser radar imaging reconstruction method, system, equipment and storage medium - Google Patents
Laser radar imaging reconstruction method, system, equipment and storage medium Download PDFInfo
- Publication number
- CN115469325A CN115469325A CN202210979680.0A CN202210979680A CN115469325A CN 115469325 A CN115469325 A CN 115469325A CN 202210979680 A CN202210979680 A CN 202210979680A CN 115469325 A CN115469325 A CN 115469325A
- Authority
- CN
- China
- Prior art keywords
- target detection
- detection
- target
- laser
- spectrum
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims abstract description 53
- 238000003384 imaging method Methods 0.000 title claims abstract description 45
- 238000001514 detection method Methods 0.000 claims abstract description 271
- 238000001228 spectrum Methods 0.000 claims abstract description 70
- 230000003287 optical effect Effects 0.000 claims description 45
- 230000035559 beat frequency Effects 0.000 claims description 32
- 239000006185 dispersion Substances 0.000 claims description 12
- 239000000835 fiber Substances 0.000 claims description 9
- 239000000523 sample Substances 0.000 claims description 7
- 238000004590 computer program Methods 0.000 claims description 6
- 239000013307 optical fiber Substances 0.000 claims description 6
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 238000003708 edge detection Methods 0.000 claims description 3
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000000694 effects Effects 0.000 abstract description 8
- 230000009286 beneficial effect Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 7
- 238000009826 distribution Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000002349 favourable effect Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 230000003111 delayed effect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000005286 illumination Methods 0.000 description 1
- 238000010295 mobile communication Methods 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 238000000638 solvent extraction Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000005068 transpiration Effects 0.000 description 1
- 230000007723 transport mechanism Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/08—Systems determining position data of a target for measuring distance only
- G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/88—Lidar systems specially adapted for specific applications
- G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
- G01S17/894—3D imaging with simultaneous measurement of time-of-flight at a 2D array of receiver pixels, e.g. time-of-flight cameras or flash lidar
Landscapes
- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Computer Networks & Wireless Communication (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Optical Radar Systems And Details Thereof (AREA)
Abstract
The invention provides a laser radar imaging reconstruction method, a system, equipment and a storage medium, relating to the technical field of laser radar, wherein the method comprises the steps of obtaining a target detection frequency spectrum of a target detection object output by a laser radar system; dividing the target detection frequency spectrum into a target detection region and a non-target detection region; continuously moving a detection window on the target detection frequency spectrum to obtain a plurality of depth information extracted through the detection window; in the continuous moving process of the detection window, when the detection window reaches the target detection area, the moving step length of the detection window moving next time is reduced, and when the detection window reaches the non-target detection area, the moving step length of the detection window moving next time is increased; and carrying out imaging reconstruction according to the depth information to obtain the imaging of the target detection object. The method is beneficial to improving the imaging reconstruction effect of the laser radar system.
Description
Technical Field
The invention relates to the technical field of laser radars, in particular to a laser radar imaging reconstruction method, a system, equipment and a storage medium.
Background
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is as follows: the method comprises the steps of transmitting a detection signal (laser beam) to a target, processing a received signal (target echo) reflected from the target, reconstructing the target, obtaining target imaging, and analyzing parameters such as target attitude, target shape, target distance, target azimuth, target height, target speed and the like according to the target imaging, so that the laser radar can be used for detecting, tracking and identifying targets such as airplanes and missiles. When the imaging reconstruction is performed on the signal reflected from the target in the traditional technology, the imaging effect is poor and the efficiency is low.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein and is not intended to limit the scope of the claims.
The embodiment of the invention provides a laser radar imaging reconstruction method, a system, equipment and a storage medium, which are beneficial to improving the imaging reconstruction effect of a laser radar system.
In a first aspect, an embodiment of the present invention provides a lidar imaging reconstruction method, where the method includes:
acquiring a target detection frequency spectrum of a target detection object output by a laser radar system;
dividing the target detection frequency spectrum into a target detection region and a non-target detection region;
continuously moving a detection window on the target detection frequency spectrum to obtain a plurality of depth information extracted through the detection window;
in the continuous moving process of the detection window, when the detection window reaches the target detection area, the moving step length of the next movement of the detection window is reduced, and when the detection window reaches the non-target detection area, the moving step length of the next movement of the detection window is increased;
and carrying out imaging reconstruction according to the depth information to obtain the imaging of the target detection object.
Embodiments of the first aspect of the invention have at least the following advantageous effects: according to the invention, the target detection frequency spectrum is divided into the target detection area and the non-target detection area, when the detection window reaches the target detection area, the moving step length of the detection window is reduced, so that the overlapping area between adjacent windows is enlarged, and the depth information of the obtained target detection area is finer, and when the detection window reaches the non-target detection area, the moving step length of the detection window is increased, so that the depth information of the obtained target detection area is sparse.
According to some embodiments of the first aspect of the present invention, the lidar system includes a third coupler, a probe arm, and a reference arm, where the third coupler is configured to split an original optical signal of the lidar system to obtain a first optical signal and a second optical signal, and input the first optical signal and the second optical signal to the probe arm and the reference arm, respectively, and the obtaining a target detection spectrum of a target detection object output by the lidar system includes:
acquiring an initial beat frequency signal output after the target detection object is detected by the detection arm by adopting a first optical signal;
acquiring a reference beat frequency signal output after the interference processing is carried out on the second optical signal through the reference arm;
correcting the initial beat frequency signal according to the reference beat frequency signal to obtain a target beat frequency signal;
and performing Fourier transform on the target beat frequency signal to obtain a target detection frequency spectrum.
According to some embodiments of the first aspect of the present invention, the detection arm includes a first coupler, a circulator, a two-dimensional dispersion device, a first delay fiber, and a first balanced detector, the first optical signal is split by the first coupler and then outputs a first path of laser and a second path of laser, the first path of laser sequentially passes through the circulator and the two-dimensional dispersion device and is emitted to the target detection object, and the circulator outputs reflected light corresponding to the first path of laser received by the two-dimensional dispersion device to the first balanced detector; and the second path of laser is output to the first balanced detector through the first delay optical fiber, and the initial beat frequency signal is a signal output by the first balanced detector.
According to some embodiments of the first aspect of the present invention, the reference arm includes a second coupler, a second delay fiber, and a second balanced detector, the second optical signal is split by the second coupler and outputs a third laser and a fourth laser, the third laser is output to the second balanced detector, the fourth laser is output to the second balanced detector through the second delay fiber, and the reference beat signal is a signal output by the second balanced detector.
According to some embodiments of the first aspect of the present invention, the dividing the object detection spectrum into an object detection region and a non-object detection region comprises:
performing target detection on the target detection frequency spectrum by using an edge detection algorithm to obtain a plurality of target detection areas;
and determining a non-target detection region in the target detection spectrum according to the region coordinates of the target detection region and the range of the target detection spectrum.
According to some embodiments of the first aspect of the present invention, the dividing the object detection spectrum into an object detection region and a non-object detection region comprises:
and defining the region with the frequency meeting the preset frequency band condition on the target detection frequency spectrum as a target detection region.
According to some embodiments of the first aspect of the present invention, before said moving the detection window over the target detection spectrum, the method further comprises:
determining the size of the detection window.
In a second aspect, an embodiment of the present invention provides a lidar imaging reconstruction system, including:
the target detection frequency spectrum output module is used for outputting a target detection frequency spectrum of a target detection object;
lidar formation of image reconsitution module includes:
an obtaining unit, configured to obtain the target detection spectrum output by the target detection spectrum output module;
the region dividing unit is used for dividing the target detection frequency spectrum into a target detection region and a non-target detection region;
the detection window unit comprises a plurality of detection windows with different sizes, and the detection windows are used for extracting a plurality of depth information on the target detection frequency spectrum;
a control unit, configured to control movement of the detection window in the target detection spectrum, wherein in a continuous movement process of the detection window, when the detection window reaches the target detection region, a movement step of the detection window in the next movement is decreased, and when the detection window reaches the non-target detection region, the movement step of the detection window is increased;
and the imaging reconstruction unit is used for carrying out imaging reconstruction according to the depth information to obtain the imaging of the target detection object.
According to some embodiments of the second aspect of the present invention, the target detection spectrum output module comprises:
the third coupler is used for splitting an original optical signal of the laser radar system to obtain a first optical signal and a second optical signal;
the detection arm is used for outputting an initial beat frequency signal obtained by detecting the target detection object by adopting the first optical signal;
and the reference arm is used for outputting a reference beat frequency signal after the interference processing is carried out on the second optical signal.
In a third aspect, an embodiment of the present invention provides an electronic device, including a memory and a processor, where the memory stores a computer program, and the processor implements the method according to any one of the first aspects of the present application when executing the computer program.
In a fourth aspect, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium stores a program, and the program, when executed by a processor, implements the method according to any one of the first aspect of the present application.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by the practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the example serve to explain the principles of the invention and not to limit the invention.
Fig. 1 is a schematic structural diagram of a laser radar system according to an embodiment of the present invention;
fig. 2 is a flowchart of a lidar imaging reconstruction method according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a moving track of a detection window on a target detection spectrum according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as "up", "down", etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
It should be noted that although functional blocks are partitioned in a schematic diagram of an apparatus and a logical order is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the partitioning of blocks in the apparatus or the order in the flowchart. The terms "first," "second," and the like in the description, in the claims, or in the drawings described above, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that unless otherwise specifically limited, the terms "mounted" and "connected" are used in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the above terms in the present invention by combining the specific contents of the technical solutions.
In 2020, jalali mentions that in its time-stretched lidar system, the zoom function can be achieved by changing the chirp shape to control the discrete wavelength distribution, forming curved illumination with different frequency-space multiplexing modes. In 21 days 6 months 6 and 2021, the vehicle-scale intelligent solid-state laser radar product M1 is developed by the fast transpiration, the largest bright spot is based on the prior solid-state laser radar technology, the staring function is fused, and scanning can be focused on a key perception area concerned by a driver at any time. By changing the distribution of the number of scanning lines, the resolution ratio is adjusted, and therefore the zooming function is achieved. However, since both of these are control line number distributions, focusing on a certain target, regions other than the target which we do not care about are also detected, which inevitably results in waste of detection point number, and the focusing range is not accurate enough. Therefore, the invention hopes to enable the focusing range to be more accurate and intelligent and reduce the power consumption of the system.
The laser radar is a radar system that detects a characteristic amount such as a position and a velocity of a target by emitting a laser beam. The working principle is as follows: the method comprises the steps of transmitting a detection signal (laser beam) to a target, processing a received signal (target echo) reflected from the target, reconstructing the target, obtaining target imaging, and analyzing parameters such as target attitude, target shape, target distance, target azimuth, target height, target speed and the like according to the target imaging, so that the laser radar can be used for detecting, tracking and identifying targets such as airplanes and missiles. When the imaging reconstruction is carried out on the signals reflected from the target in the traditional technology, the imaging effect is poor and the efficiency is low.
Based on this, the embodiment of the invention provides a laser radar imaging reconstruction method, a device and a storage medium, which are beneficial to improving the imaging effect and the detection efficiency.
Referring to fig. 1, fig. 1 is a schematic structural diagram of a lidar system according to an embodiment of the present invention, including a light source, a third coupler, a detection arm, and a reference arm, where the detection arm includes a first coupler, a circulator, a two-dimensional dispersive device, and a first balanced detector, and the reference arm includes a second coupler and a second balanced detector.
Based on the schematic structural diagram of the lidar system shown in fig. 1, referring to fig. 2, fig. 2 is a flowchart of a lidar imaging reconstruction method according to an embodiment of the present invention, where the method includes, but is not limited to, the following steps 201 to 204.
Step 201: acquiring a target detection frequency spectrum of a target detection object output by a laser radar system;
step 202: dividing a target detection frequency spectrum into a target detection area and a non-target detection area;
step 203: continuously moving a detection window on a target detection frequency spectrum to obtain a plurality of depth information extracted through the detection window; in the continuous moving process of the detection window, when the detection window reaches a target detection area, the moving step length of the next movement of the detection window is reduced, and when the detection window reaches a non-target detection area, the moving step length of the next movement of the detection window is increased;
step 204: and carrying out imaging reconstruction according to the depth information to obtain the imaging of the target detection object.
It can be understood that, in the invention, the target detection frequency spectrum is divided into a target detection area and a non-target detection area, when the detection window reaches the target detection area, the moving step length of the detection window is reduced, so that the overlapping area between adjacent windows is enlarged, and further the obtained depth information of the target detection area is finer, and when the detection window reaches the non-target detection area, the moving step length of the detection window is enlarged, so that the obtained depth information of the target detection area is sparse.
In one embodiment, the lidar system includes a third coupler, a probe arm, and a reference arm, where the third coupler is configured to split an original optical signal of the lidar system to obtain a first optical signal and a second optical signal, which are respectively input to the probe arm and the reference arm, and step 201: the method for acquiring the target detection frequency spectrum of the target detection object output by the laser radar system comprises the following steps:
step 2011: acquiring an initial beat frequency signal output after a target detection object is detected by a detection arm by adopting a first optical signal;
step 2012: acquiring a reference beat frequency signal output after the interference processing is carried out on the second optical signal through a reference arm;
step 2013: correcting the initial beat frequency signal according to the reference beat frequency signal to obtain a target beat frequency signal;
step 2014: and carrying out Fourier transform on the target beat frequency signal to obtain a target detection frequency spectrum.
It should be added that the original optical signal is emitted by an optical source, which may be a tunable laser. The invention is realized based on the technology of synchronous scanning and ranging of Frequency Modulated Continuous Wave (FMCW) laser radar. We use a 1550nm tunable solid state light source with a tuning range up to 100nm, and light in this band is safe to the human eye.
In one embodiment, the detection arm comprises a first coupler, a circulator, a two-dimensional dispersion device, a first delay fiber and a first balanced detector, the first optical signal is split by the first coupler and then outputs a first path of laser and a second path of laser, the first path of laser is transmitted to a target detection object through the circulator and the two-dimensional dispersion device in sequence, and the circulator outputs reflected light, corresponding to the first path of laser, received by the two-dimensional dispersion device to the first balanced detector; the second path of laser is transmitted to the first balanced detector through the first delay optical fiber, and the initial beat frequency signal is a signal output by the first balanced detector.
In one embodiment, the reference arm includes a second coupler, a second delay fiber, and a second balanced detector, the second optical signal is split by the second coupler and then outputs a third laser and a fourth laser, the third laser is output to the second balanced detector, the fourth laser is output to the second balanced detector through the second delay fiber, and the reference beat signal is a signal output by the second balanced detector.
In one embodiment, step 202: dividing the target detection frequency spectrum into a target detection region and a non-target detection region, comprising: performing target detection on the target detection frequency spectrum by using an edge detection algorithm to obtain a plurality of target detection areas; and determining a non-target detection region in the target detection spectrum according to the region coordinates of the target detection region and the range of the target detection spectrum.
In one embodiment, step 202: dividing the target detection frequency spectrum into a target detection region and a non-target detection region, comprising: and defining the region with the frequency meeting the preset frequency band condition on the target detection frequency spectrum as a target detection region.
It should be added that the size of the detection window may be preset manually, or a detection window with a suitable size may be intelligently selected from a plurality of candidate detection windows, for example: and traversing and selecting a window which is suitable for the frequency spectrum of the target detection object and has the highest frequency information extraction precision from No. 1 to No. 100 detection windows.
Referring to fig. 1, a lidar imaging reconstruction system provided in an embodiment of the present invention includes:
the target detection frequency spectrum output module is used for outputting a target detection frequency spectrum of a target detection object;
lidar formation of image reconsitution module includes:
the acquisition unit is used for acquiring the target detection frequency spectrum output by the target detection frequency spectrum output module;
the area dividing unit is used for dividing the target detection frequency spectrum into a target detection area and a non-target detection area;
the detection window unit comprises a plurality of detection windows with different sizes, and the detection windows are used for extracting a plurality of depth information on a target detection frequency spectrum;
the control unit is used for controlling the movement of the detection window in the target detection frequency spectrum, wherein in the continuous movement process of the detection window, when the detection window reaches a target detection region, the movement step length of the next movement of the detection window is reduced, and when the detection window reaches a non-target detection region, the movement step length of the detection window is increased;
and the imaging reconstruction unit is used for carrying out imaging reconstruction according to the depth information to obtain the imaging of the target detection object.
In one embodiment, the target detection spectrum output module includes: the third coupler is used for splitting an original optical signal of the laser radar system to obtain a first optical signal and a second optical signal; the detection arm is used for outputting an initial beat frequency signal obtained by detecting a target detection object by adopting a first optical signal; and the reference arm is used for outputting a reference beat frequency signal after the interference processing is carried out on the second optical signal.
The following describes a specific implementation process of the lidar imaging reconstruction method according to an embodiment of the present invention:
as shown in fig. 1, the continuous laser light of the linear modulation frequency emitted from the light source is divided into two lights, i.e., the initial laser light and the reference laser light by the third coupler, the reference laser light is used as the reference arm, and the initial laser light is used as the probe arm. The detection arm is used for detecting the target detection object. The initial laser entering the detection arm is divided into a first path of laser and a second path of laser by a first coupler, the first path of laser enters a two-dimensional dispersion device after passing through a circulator, light beams with different wavelengths in the first path of laser are separated in space by the two-dimensional dispersion device and irradiate a target detection object, the light reflected by the target detection object is absorbed by the two-dimensional dispersion device and is transmitted to an optical circulator and then is transmitted to a first balanced detector by the optical circulator, at the moment, the second path of laser passing through a certain distance delay optical fiber also enters the first balanced detector, the first path of laser and the second path of laser form interference in the first balanced detector, and the first path of laser and the second path of laser generate an initial beat frequency signal in the first balanced detector. The reference laser entering the reference arm is divided into a third path of laser and a fourth path of laser by the second coupler, and because the lengths of the optical fibers of the two paths of laser are different, the three paths of laser are input into the second balanced detector after being delayed by the optical fibers with a certain distance, and an interference output reference beat frequency signal is formed in the second balanced detector so as to be used for carrying out nonlinear correction on the initial beat frequency signal. And performing short-time Fourier transform on the corrected initial beat frequency signal (namely the target beat frequency signal) to obtain a target detection frequency spectrum (frequency of the beat frequency signal), and then calculating the depth information of the corresponding space position of the target detection object. In the invention, a focus variable spectrum window (hereinafter referred to as a detection window) is used for focus detection of a target detection spectrum, which is specifically represented as follows: the method comprises the steps of realizing dense distribution or sparse distribution of detection windows according to needs, wherein the densely distributed detection windows can obtain as much depth information as possible for the same region, and the sparsely distributed detection windows obtain less depth information. In order to implement a focused spectral window, the size of a detection window, i.e. depth information corresponding to a position, needs to be determined first. As shown in fig. 3, for a desired region (target detection region), the step size of the detection window movement is reduced, so that there is a partial overlapping region between adjacent detection windows, and when the overlapping portion is larger, it indicates that the depth information of the portion is more finely obtained. For the regions which are not concerned (non-target detection regions), the step length of the movement of the detection windows is enlarged, so that the depth information of the part is relatively sparse to obtain, therefore, the method has the staring function similar to human eyes, and compared with the traditional short-time Fourier transform, the size of each detection window is fixed, and the frequency spectrum windows are not overlapped. The detection window can be adjusted according to actual conditions, so that the method is favorable for improving the acquisition precision of the imaging information of the target detection object, is favorable for improving the imaging effect, is favorable for simplifying the detection process of a non-target detection area, and is further favorable for improving the detection efficiency.
The method can realize focus detection on the target detection area based on the detection data of the laser radar, and compared with the related technology, the method has the advantages that the focus range is more accurate through the focus variable frequency spectrum window, and the resolution regulation range is larger.
Referring to fig. 4, fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. The electronic device 400 includes: a memory 401, a processor 402 and a computer program stored on the memory 401 and executable on the processor 402 for performing the above-mentioned method when the computer program is run.
The processor 402 and the memory 401 may be connected by a bus or other means.
The memory 401, which is a non-transitory computer readable storage medium, may be used to store a non-transitory software program and a non-transitory computer executable program, such as the methods described in the embodiments of the present invention. The processor 402 implements the above-described method by running a non-transitory software program and instructions stored in the memory 401.
The memory 401 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data for performing the above-described method. Further, the memory 401 may include high speed random access memory, and may also include non-transitory memory, such as at least one storage device memory device, flash memory device, or other non-transitory solid state memory device. In some embodiments, the memory 401 may optionally include memory located remotely from the processor 402, which may be connected to the electronic device 400 via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Non-transitory software programs and instructions necessary to implement the methods described above are stored in the memory 401 and, when executed by the one or more processors 402, perform the methods described above.
Embodiments of the present invention further provide a computer-readable storage medium storing computer-executable instructions for performing the above method.
In one embodiment, the computer-readable storage medium stores computer-executable instructions that are executed by one or more control processors to implement the above-described method.
The above described embodiments of the apparatus are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, may be located in one place, or may be distributed over a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.
One of ordinary skill in the art will appreciate that all or some of the steps, systems, and methods disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those skilled in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, storage device storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
It should also be appreciated that the various implementations provided by the embodiments of the present invention can be combined arbitrarily to achieve different technical effects.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the foregoing and various other changes, omissions and deviations in the form and detail thereof may be made without departing from the scope of this invention.
Claims (10)
1. A lidar imaging reconstruction method, the method comprising:
acquiring a target detection frequency spectrum of a target detection object output by a laser radar system;
dividing the target detection frequency spectrum into a target detection area and a non-target detection area;
continuously moving a detection window on the target detection frequency spectrum to obtain a plurality of depth information extracted through the detection window;
in the continuous moving process of the detection window, when the detection window reaches the target detection area, the moving step length of the next movement of the detection window is reduced, and when the detection window reaches the non-target detection area, the moving step length of the next movement of the detection window is increased;
and carrying out imaging reconstruction according to the depth information to obtain the imaging of the target detection object.
2. The method according to claim 1, wherein the lidar system comprises a third coupler, a probe arm and a reference arm, the third coupler is configured to split a raw optical signal of the lidar system to obtain a first optical signal and a second optical signal, and the first optical signal and the second optical signal are respectively input to the probe arm and the reference arm, and the obtaining a target detection spectrum of a target detection object output by the lidar system comprises:
acquiring an initial beat frequency signal output after the target detection object is detected by the detection arm through a first optical signal;
acquiring a reference beat frequency signal output after the second optical signal is subjected to interference processing by the reference arm;
correcting the initial beat frequency signal according to the reference beat frequency signal to obtain a target beat frequency signal;
and carrying out Fourier transform on the target beat frequency signal to obtain a target detection frequency spectrum.
3. The method according to claim 2, wherein the detection arm includes a first coupler, a circulator, a two-dimensional dispersion device, a first delay fiber and a first balanced detector, the first optical signal is split by the first coupler and outputs a first laser and a second laser, the first laser sequentially passes through the circulator and the two-dimensional dispersion device and is emitted to the target detection object, and the circulator outputs reflected light corresponding to the first laser received by the two-dimensional dispersion device to the first balanced detector; and the second path of laser is output to the first balanced detector through the first delay optical fiber, and the initial beat signal is a signal output by the first balanced detector.
4. The method according to claim 2, wherein the reference arm includes a second coupler, a second delay fiber and a second balanced detector, the second optical signal is split by the second coupler to output a third laser and a fourth laser, the third laser is output to the second balanced detector, the fourth laser is output to the second balanced detector through the second delay fiber, and the reference beat signal is a signal output by the second balanced detector.
5. The method of claim 1, wherein the dividing the target detection spectrum into a target detection region and a non-target detection region comprises:
performing target detection on the target detection frequency spectrum by using an edge detection algorithm to obtain a plurality of target detection areas;
and determining a non-target detection region in the target detection spectrum according to the region coordinates of the target detection region and the range of the target detection spectrum.
6. The method of claim 1, wherein the dividing the target detection spectrum into a target detection region and a non-target detection region comprises:
and defining the region with the frequency meeting the preset frequency band condition on the target detection frequency spectrum as a target detection region.
7. A lidar imaging reconstruction system comprising:
the target detection frequency spectrum output module is used for outputting a target detection frequency spectrum of a target detection object;
lidar formation of image reconsitution module includes:
an obtaining unit, configured to obtain the target detection spectrum output by the target detection spectrum output module;
the region dividing unit is used for dividing the target detection frequency spectrum into a target detection region and a non-target detection region;
the detection window unit comprises a plurality of detection windows with different sizes, and the detection windows are used for extracting a plurality of depth information on the target detection frequency spectrum;
a control unit, configured to control movement of the detection window in the target detection spectrum, wherein in a continuous movement process of the detection window, when the detection window reaches the target detection region, a movement step of the detection window in the next movement is decreased, and when the detection window reaches the non-target detection region, the movement step of the detection window is increased;
and the imaging reconstruction unit is used for carrying out imaging reconstruction according to the depth information to obtain the imaging of the target detection object.
8. The lidar imaging reconstruction system of claim 7, wherein the target detection spectrum output module comprises:
the third coupler is used for splitting an original optical signal of the laser radar system to obtain a first optical signal and a second optical signal;
the detection arm is used for outputting an initial beat frequency signal obtained by detecting the target detection object by adopting the first optical signal;
and the reference arm is used for outputting a reference beat frequency signal after the interference processing is carried out on the second optical signal.
9. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the method of any of claims 1 to 6 when executing the computer program.
10. A computer-readable storage medium storing a program, wherein the program is characterized by implementing the method of any one of claims 1 to 6 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210979680.0A CN115469325B (en) | 2022-08-16 | 2022-08-16 | Laser radar imaging reconstruction method, system, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210979680.0A CN115469325B (en) | 2022-08-16 | 2022-08-16 | Laser radar imaging reconstruction method, system, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115469325A true CN115469325A (en) | 2022-12-13 |
| CN115469325B CN115469325B (en) | 2024-09-17 |
Family
ID=84365697
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210979680.0A Active CN115469325B (en) | 2022-08-16 | 2022-08-16 | Laser radar imaging reconstruction method, system, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115469325B (en) |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111948665A (en) * | 2020-07-02 | 2020-11-17 | 清华-伯克利深圳学院筹备办公室 | Solid-state laser radar system and solid-state laser radar |
| CN112835044A (en) * | 2021-01-08 | 2021-05-25 | 清华大学 | Imaging method and system based on reconfigurable optical fractional order Fourier transform |
| WO2022121695A1 (en) * | 2020-12-09 | 2022-06-16 | 同方威视技术股份有限公司 | Three-dimensional imaging method and apparatus, and three-dimensional imaging device |
-
2022
- 2022-08-16 CN CN202210979680.0A patent/CN115469325B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111948665A (en) * | 2020-07-02 | 2020-11-17 | 清华-伯克利深圳学院筹备办公室 | Solid-state laser radar system and solid-state laser radar |
| WO2022121695A1 (en) * | 2020-12-09 | 2022-06-16 | 同方威视技术股份有限公司 | Three-dimensional imaging method and apparatus, and three-dimensional imaging device |
| CN112835044A (en) * | 2021-01-08 | 2021-05-25 | 清华大学 | Imaging method and system based on reconfigurable optical fractional order Fourier transform |
Non-Patent Citations (1)
| Title |
|---|
| 闫晶 等: "合成孔径激光雷达的目标重构方法", 《激光杂志》, vol. 42, no. 7, 31 July 2021 (2021-07-31), pages 176 - 179 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115469325B (en) | 2024-09-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| AU2022200101B2 (en) | Providing spatial displacement of transmit and receive modes in lidar system | |
| EP3548926B1 (en) | Method and system for adaptive scanning with optical ranging systems | |
| US9825701B2 (en) | Free space optical communication | |
| EP2884306B1 (en) | Radar device | |
| US9581967B1 (en) | Motion compensated multi-wavelength digital holography | |
| US10345436B2 (en) | System and method for detecting an object or recess on a surface | |
| US9134414B2 (en) | Method and apparatus for determining a doppler centroid in a synthetic aperture imaging system | |
| US10206580B2 (en) | Full-field OCT system using wavelength-tunable laser and three-dimensional image correction method | |
| CN109581408B (en) | Method and system for identifying target by using laser composite imaging | |
| US11360214B2 (en) | Techniques for ghosting mitigation in coherent lidar systems | |
| CN105675151A (en) | Application device based on light intensity transmission equation phase retrieval | |
| CN107728131A (en) | Laser radar and laser radar control method | |
| US20210003706A1 (en) | Lidar apparatus and control method thereof | |
| CN112558286A (en) | Large-caliber dynamic light-adjusting large-optical-distance short-wave optical system for photoelectric tracking and aiming equipment | |
| Ho et al. | High-speed 3D imaging using a chaos lidar system | |
| CN115469325B (en) | Laser radar imaging reconstruction method, system, equipment and storage medium | |
| CN115685220A (en) | Target detection method, OPA laser radar and computer readable storage medium | |
| WO2022000333A1 (en) | Radar detection method and related device | |
| US20230213651A1 (en) | Techniques for ghosting mitigation in coherent lidar systems using multiple chirp rates | |
| CN115752726A (en) | DMD-based variable-field-of-view wide-spectrum associated imaging system | |
| Sun et al. | Optical image processing for synthetic-aperture imaging ladar based on two-dimensional Fourier transform | |
| CN104237899B (en) | Spotlight mode down-looking synthetic aperture laser imaging radar | |
| CN110297240B (en) | Imaging method and device of azimuth wide-beam synthetic aperture radar | |
| DE102021201490A1 (en) | Frequency modulated continuous wave LiDAR system | |
| CN118679438A (en) | Laser radar and control method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |