JP6838705B2 - Laser radar device and intensity image acquisition method used for it - Google Patents

Laser radar device and intensity image acquisition method used for it Download PDF

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JP6838705B2
JP6838705B2 JP2017067558A JP2017067558A JP6838705B2 JP 6838705 B2 JP6838705 B2 JP 6838705B2 JP 2017067558 A JP2017067558 A JP 2017067558A JP 2017067558 A JP2017067558 A JP 2017067558A JP 6838705 B2 JP6838705 B2 JP 6838705B2
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真智彦 山口
真智彦 山口
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本発明はレーザレーダ装置に関する。 The present invention relates to a laser radar device.

レーザスポットを被測定物に照射し、その反射光を受光して被測定物の情報、例えば被測定物までの距離画像及び反射光の強度画像を取得する手段として、光源をパルスレーザとする走査型のレーザレーダ装置が提供されている。レーザレーダ装置においては、図１に示すように、物体の縁付近ではレーザスポットの一部が照射される場合がある。この場合に得られる情報は、強度画像の場合には強度値が低下した情報となる。その結果、図２に示すように、得られる強度画像は縁取りされたような不自然な画像となっていた。 Scanning with a pulse laser as the light source as a means of irradiating the object to be measured with a laser spot and receiving the reflected light to acquire information on the object to be measured, for example, a distance image to the object to be measured and an intensity image of the reflected light. A type of laser radar device is provided. In the laser radar device, as shown in FIG. 1, a part of the laser spot may be irradiated near the edge of the object. In the case of an intensity image, the information obtained in this case is information in which the intensity value is reduced. As a result, as shown in FIG. 2, the obtained intensity image was an unnatural image as if it had been bordered.

通常、同一物体であればレーザ光に対する反射率は同じであるので、縁取りの無い画像を得ることが要求される。 Normally, if the objects are the same, the reflectance to the laser beam is the same, so it is required to obtain an image without borders.

ところで、レーザ計測に関連する技術として、以下の特許文献１〜３を挙げることができ、簡単に説明する。 By the way, the following Patent Documents 1 to 3 can be mentioned as a technique related to laser measurement, which will be briefly described.

特許文献１にはレーザ３次元画像計測装置が開示されている。特許文献１では、取得した距離データについて、強度データと距離データの両方を用いて誤検出データの選択と除去を行い、ターゲット形状の基となる距離データの精度を向上させるようにしている。 Patent Document 1 discloses a laser three-dimensional image measuring device. In Patent Document 1, false detection data is selected and removed from the acquired distance data using both intensity data and distance data to improve the accuracy of the distance data that is the basis of the target shape.

特許文献２は、レーダ装置を用いて自車両が走行する道路における端部の位置を検出する道路端検出装置、道路端検出方法等について開示している。レーダ装置は、検出対象領域に照射されたレーザ光が被測定物に反射されることによる反射光を受光し、対物距離及び反射強度を検出する。レーダ装置はまた、検出対象領域における隣接する個別領域で各対物距離の差が基準距離差以上となる第１境界と、隣接する個別領域で各反射強度の差が基準強度差以上となる第２境界とを検出し、第１境界の位置または第２境界の位置を道路端として設定する。 Patent Document 2 discloses a road edge detecting device for detecting the position of an end portion on a road on which the own vehicle travels by using a radar device, a road edge detecting method, and the like. The radar device receives the reflected light due to the laser light radiated to the detection target area being reflected by the object to be measured, and detects the objective distance and the reflection intensity. The radar device also has a first boundary in which the difference between the objective distances is equal to or greater than the reference distance difference in the adjacent individual regions in the detection target region, and a second boundary in which the difference in the reflection intensities is equal to or greater than the reference intensity difference in the adjacent individual regions. The boundary is detected, and the position of the first boundary or the position of the second boundary is set as the road edge.

特許文献３には、エッジ強度を復元する画像処理について開示し、画素補間処理を伴う幾何学変換処理を行う画像処理装置について記載している。画像処理装置は、画素補間処理において注目画素の補間に用いた複数の画素のうち、注目画素に最も近い画素を選択する画素選択手段と、選択された選択画素を中心として領域を選択し、選択領域に対してフィルタ処理を適用することで選択画素のエッジ強度を取得する選択画素エッジ強度取得手段と、補間に用いた複数の画素の重心と注目画素との距離に応じて、選択画素エッジ強度取得手段により取得されたエッジ強度を注目画素の画素値に反映する補間画素値更新手段とを有する。このような構成により、画像処理装置は、補間処理によって失われたエッジ強度を補間画素に反映させることで、本来のエッジ強度を復元する。 Patent Document 3 discloses an image processing that restores edge strength, and describes an image processing apparatus that performs geometric transformation processing accompanied by pixel interpolation processing. The image processing device selects a pixel selection means for selecting the pixel closest to the pixel of interest from a plurality of pixels used for interpolation of the pixel of interest in the pixel interpolation processing, and selects and selects an area centered on the selected selected pixel. The edge strength of the selected pixel is obtained according to the distance between the center of gravity of a plurality of pixels used for interpolation and the pixel of interest, and the means for obtaining the edge strength of the selected pixel by applying a filter process to the region. It has an interpolated pixel value updating means that reflects the edge strength acquired by the acquiring means in the pixel value of the pixel of interest. With such a configuration, the image processing apparatus restores the original edge strength by reflecting the edge strength lost by the interpolation processing on the interpolation pixels.

特開２０１０−１６４４６３号公報Japanese Unexamined Patent Publication No. 2010-164463 特開２０１２−３２３７８号公報Japanese Unexamined Patent Publication No. 2012-32378 特開２０１０−２６３４４１号公報Japanese Unexamined Patent Publication No. 2010-263441

特許文献１において企図しているのは、取得した強度値および距離値から強度値の誤検出を除去し距離値の精度を向上させることであり、強度画像の改善については考えられていない。 What is intended in Patent Document 1 is to remove erroneous detection of the intensity value from the acquired intensity value and the distance value to improve the accuracy of the distance value, and improvement of the intensity image is not considered.

また、特許文献２において企図しているのは、道路端を精度よく検出することであり、画像の改質のようなことについては考えていない。 Further, what is intended in Patent Document 2 is to detect the road edge with high accuracy, and does not consider such things as image modification.

更に、特許文献３では、エッジ強度のみに注目しており、被測定物までの距離値をも考慮した画像処理については考えていない。 Further, Patent Document 3 pays attention only to the edge strength, and does not consider the image processing in consideration of the distance value to the object to be measured.

そこで、本発明の課題は、上記のような縁取りされたような不自然な画像とならない良好な強度画像を得ることのできるレーザレーダ装置及び強度画像取得方法を提供することにある。 Therefore, an object of the present invention is to provide a laser radar device and an intensity image acquisition method capable of obtaining a good intensity image that does not produce an unnatural image as described above.

本発明の第１の態様によれば、レーザ光による走査を制御するための制御コマンドを生成して出力する制御装置と、
前記制御コマンドに基づいて制御信号を出力する制御回路と、
前記制御信号に基づいて被測定物をレーザ光で走査してその反射光を受光し、受光した反射光から画素毎の反射信号及び前記レーザ光の走査角度を示す角度信号を生成して前記制御回路に出力する走査型送受光部と、
前記制御回路と前記制御装置との間に接続された強度値置換回路と、を含み、
前記制御回路は、前記走査型送受光部からの画素毎の前記反射信号及び前記角度信号に基づいて前記被測定物までの距離値、反射光の強度値、及び画素アドレスを生成して、前記距離値及び前記画素アドレスを前記制御装置に送信すると共に、前記距離値、前記強度値及び前記画素アドレスを前記強度値置換回路に送信し、
前記強度値置換回路は、前記距離値、前記強度値及び前記画素アドレスを用いて、注目画素とその隣接画素との間で、前記被測定物までの距離が同等で、かつ隣接画素の強度値より低い強度値を持つ注目画素の有無について判別を行い、有りと判別すると、距離値が同等でかつ強度低下の無い隣接画素をさがしたうえで、有りと判別した前記注目画素の強度値を、前記強度低下の無い隣接画素の強度値で置換し、置換した強度値を前記制御装置に送信し、無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行し、
前記制御装置は、前記制御回路からの前記距離値及び前記画素アドレスと前記強度値置換回路からの前記強度値に基づいて強度画像を生成することを特徴とするレーザレーダ装置、
が提供される。 According to the first aspect of the present invention, a control device that generates and outputs a control command for controlling scanning by a laser beam, and a control device.
A control circuit that outputs a control signal based on the control command,
Based on the control signal, the object to be measured is scanned with a laser beam to receive the reflected light, and the reflected signal for each pixel and an angle signal indicating the scanning angle of the laser beam are generated from the received reflected light to control the control. A scanning type transmitter / receiver that outputs to the circuit,
Includes a strength value replacement circuit connected between the control circuit and the control device.
The control circuit generates the distance value to the object to be measured, the intensity value of the reflected light, and the pixel address based on the reflected signal and the angle signal for each pixel from the scanning type transmitting / receiving unit, and the said. The distance value and the pixel address are transmitted to the control device, and the distance value, the intensity value and the pixel address are transmitted to the intensity value replacement circuit.
The intensity value replacement circuit uses the distance value, the intensity value, and the pixel address to obtain the same distance to the object to be measured between the pixel of interest and its adjacent pixel, and the intensity value of the adjacent pixel. The presence or absence of the attention pixel having a lower intensity value is determined, and if it is determined to be present, the intensity value of the attention pixel determined to be present is determined after searching for adjacent pixels having the same distance value and no decrease in intensity. The intensity value of the adjacent pixel without the decrease in intensity is replaced with the intensity value of the adjacent pixel, and the replaced intensity value is transmitted to the control device. Execute the process to send and
The control device is a laser radar device, characterized in that an intensity image is generated based on the distance value from the control circuit, the pixel address, and the intensity value from the intensity value replacement circuit.
Is provided.

本発明の第２の態様によれば、
レーザ光による走査を制御するための制御コマンドを生成して出力する制御装置と、
前記制御コマンドに基づいて制御信号を出力する制御回路と、
前記制御信号に基づいて被測定物をレーザ光で走査してその反射光を受光し、受光した反射光から画素毎の反射信号及び前記レーザ光の走査角度を示す角度信号を生成して前記制御回路に出力する走査型送受光部と、
前記制御回路と前記制御装置との間に接続された強度値置換回路と、を含むレーザレーダ装置において用いる強度画像取得方法であって、
前記走査型送受光部からの画素毎の前記反射信号及び前記角度信号に基づいて前記被測定物までの距離値、反射光の強度値、及び画素アドレスを生成して、前記距離値及び前記画素アドレスを前記制御装置に送信すると共に、前記距離値、前記強度値及び前記画素アドレスを前記強度値置換回路に送信し、
前記距離値、前記強度値及び前記画素アドレスを用いて、注目画素とその隣接画素との間で、前記被測定物までの距離が同等で、かつ隣接画素の強度値より低い強度値を持つ注目画素の有無について判別を行い、有りと判別すると、距離値が同等でかつ強度低下の無い隣接画素をさがしたうえで、有りと判別した前記注目画素の強度値を、前記強度低下の無い隣接画素の強度値で置換し、置換した強度値を前記制御装置に送信し、無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行し、
前記制御回路からの前記距離値及び前記画素アドレスと前記強度値置換回路からの前記強度値に基づいて強度画像を生成することを特徴とする強度画像取得方法、
が提供される。 According to the second aspect of the present invention
A control device that generates and outputs control commands for controlling scanning by laser light,
A control circuit that outputs a control signal based on the control command,
Based on the control signal, the object to be measured is scanned with a laser beam to receive the reflected light, and the reflected signal for each pixel and an angle signal indicating the scanning angle of the laser beam are generated from the received reflected light to control the control. A scanning type transmitter / receiver that outputs to the circuit,
An intensity image acquisition method used in a laser radar device including an intensity value substitution circuit connected between the control circuit and the control device.
Based on the reflected signal and the angle signal for each pixel from the scanning type transmitter / receiver, the distance value to the object to be measured, the intensity value of the reflected light, and the pixel address are generated to generate the distance value and the pixel. The address is transmitted to the control device, and the distance value, the intensity value, and the pixel address are transmitted to the intensity value replacement circuit.
Attention that the distance to the object to be measured is the same between the pixel of interest and its adjacent pixel using the distance value, the intensity value, and the pixel address, and the intensity value is lower than the intensity value of the adjacent pixel. When the presence or absence of a pixel is determined and it is determined that the pixel is present, the adjacent pixel having the same distance value and no decrease in intensity is searched for, and the intensity value of the pixel of interest determined to be present is determined as the adjacent pixel without the decrease in intensity. The intensity value of the pixel is replaced with the intensity value of, and the replaced intensity value is transmitted to the control device. If it is determined that there is no such intensity value, the intensity value of the pixel of interest determined to be absent is transmitted to the control device as it is.
An intensity image acquisition method, characterized in that an intensity image is generated based on the distance value from the control circuit, the pixel address, and the intensity value from the intensity value replacement circuit.
Is provided.

本発明の第３の態様によれば、
レーザ光による走査を制御するための制御コマンドを生成して出力する制御装置と、
前記制御コマンドに基づいて制御信号を出力する制御回路と、
前記制御信号に基づいて被測定物をレーザ光で走査してその反射光を受光し、受光した反射光から画素毎の反射信号及び前記レーザ光の走査角度を示す角度信号を生成して前記制御回路に出力する走査型送受光部と、
前記制御回路と前記制御装置との間に接続された強度値置換回路と、を含むレーザレーダ装置であって、
前記制御回路においては、前記走査型送受光部からの画素毎の前記反射信号及び前記角度信号に基づいて前記被測定物までの距離値、反射光の強度値、及び画素アドレスを生成して、前記距離値及び前記画素アドレスを前記制御装置に送信すると共に、前記距離値、前記強度値及び前記画素アドレスを前記強度値置換回路に送信する、レーザレーダ装置において用いる強度画像取得用プログラムであって、
前記強度値置換回路を構成するコンピュータに、前記距離値、前記強度値及び前記画素アドレスを用いて、注目画素とその隣接画素との間で、前記被測定物までの距離が同等で、かつ隣接画素の強度値より低い強度値を持つ注目画素の有無について判別を行い、有りと判別すると、距離値が同等でかつ強度低下の無い隣接画素をさがしたうえで、有りと判別した前記注目画素の強度値を、前記強度低下の無い隣接画素の強度値で置換し、置換した強度値を前記制御装置に送信し、無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行させるための強度画像取得用プログラム、
が提供される。 According to the third aspect of the present invention
A control device that generates and outputs control commands for controlling scanning by laser light,
A control circuit that outputs a control signal based on the control command,
Based on the control signal, the object to be measured is scanned with a laser beam to receive the reflected light, and the reflected signal for each pixel and an angle signal indicating the scanning angle of the laser beam are generated from the received reflected light to control the control. A scanning type transmitter / receiver that outputs to the circuit,
A laser radar device including an intensity value replacement circuit connected between the control circuit and the control device.
In the control circuit, the distance value to the object to be measured, the intensity value of the reflected light, and the pixel address are generated based on the reflected signal and the angle signal for each pixel from the scanning type transmitting / receiving unit. An intensity image acquisition program used in a laser radar device that transmits the distance value and the pixel address to the control device and also transmits the distance value, the intensity value, and the pixel address to the intensity value replacement circuit. ,
Using the distance value, the intensity value, and the pixel address in the computer constituting the intensity value replacement circuit, the distance to the object to be measured is the same and adjacent to the pixel of interest and the adjacent pixel thereof. The presence or absence of a pixel of interest having an intensity value lower than the intensity value of the pixel is determined, and if it is determined to be present, the adjacent pixel having the same distance value and no decrease in intensity is searched for, and then the pixel of interest that is determined to be present The intensity value is replaced with the intensity value of the adjacent pixel without the decrease in intensity, the replaced intensity value is transmitted to the control device, and when it is determined that there is no intensity value, the intensity value of the attention pixel determined to be absent is used as it is. Intensity image acquisition program for executing the process of transmitting to the control device,
Is provided.

本発明によれば、縁取りされたような不自然な画像とならない良好な強度画像を得ることができ、強度画像の画質改善を実現することができる。 According to the present invention, it is possible to obtain a good intensity image that does not result in an unnatural image such as a border, and it is possible to improve the image quality of the intensity image.

レーザレーダ装置によるレーザスポット照射イメージについて説明するための図である。It is a figure for demonstrating the laser spot irradiation image by a laser radar apparatus. これまでのレーザレーダ装置により得られる物体の強度イメージについて説明するための図である。It is a figure for demonstrating the intensity image of the object obtained by the conventional laser radar apparatus. 本発明の第１の実施形態によるレーザレーダ装置の機能ブロック図である。It is a functional block diagram of the laser radar apparatus according to 1st Embodiment of this invention. 図３に示された強度値置換回路の基本的な動作フローを示した図である。It is a figure which showed the basic operation flow of the intensity value substitution circuit shown in FIG. 図３に示された強度値置換回路の詳細な動作フローを、第１のケースについて示した図である。It is a figure which showed the detailed operation flow of the intensity value substitution circuit shown in FIG. 3 about the 1st case. 図３に示された強度値置換回路の詳細な動作フローを、第２のケースについて示した図である。It is a figure which showed the detailed operation flow of the intensity value substitution circuit shown in FIG. 3 about the 2nd case.

本発明は、距離画像及び強度画像を取得することができ、レーザ光源がパルスレーザの走査型のレーザレーダ装置において、被測定物の縁においても強度の低下のない良好な強度画像を提供しようとするものである。 The present invention aims to provide a good intensity image in which a range image and an intensity image can be acquired and the intensity does not decrease even at the edge of an object to be measured in a scanning laser radar device in which the laser light source is a pulse laser. Is what you do.

本発明は、強度画像を生成するために用いられる画像生成用情報における各画素の距離値および強度値を基に強度低下が発生した画素と強度低下が発生していない画素を探し、強度低下が発生した画素の強度値を、周辺の強度が低下していない隣接画素の強度値と置き換えることにより実現する。すなわち、本発明は、被測定物の縁においてレーザ光の一部が被測定物に照射されることで強度低下が発生する画素の強度値を、隣接の同等の距離でかつ強度低下が見られない隣接画素の強度値と置換することで強度画像の画質改善を実現するものである。 The present invention searches for a pixel in which the intensity is reduced and a pixel in which the intensity is not reduced based on the distance value and the intensity value of each pixel in the image generation information used for generating the intensity image, and the intensity is reduced. This is achieved by replacing the generated pixel intensity value with the intensity value of an adjacent pixel whose peripheral intensity has not decreased. That is, in the present invention, the intensity value of the pixel at which the intensity decreases due to the irradiation of a part of the laser beam on the object to be measured at the edge of the object to be measured is set at the same distance adjacent to the object and the intensity decreases. By substituting the intensity value of the adjacent pixel that does not exist, the image quality of the intensity image is improved.

図３〜図５を参照して、本発明に係るレーザレーダ装置の第１の実施形態について説明する。 A first embodiment of the laser radar apparatus according to the present invention will be described with reference to FIGS. 3 to 5.

図３は、本発明の第１の実施形態によるレーザレーダ装置の機能ブロック図である。図３において、レーザレーダ装置は、パルス状のレーザスポット（以下では、パルスレーザと呼ぶ）による走査を行う走査型送受光部３、制御回路７、強度値置換回路１２、制御装置１４を含む。 FIG. 3 is a functional block diagram of the laser radar device according to the first embodiment of the present invention. In FIG. 3, the laser radar device includes a scanning type transmission / reception unit 3, a control circuit 7, an intensity value replacement circuit 12, and a control device 14 that perform scanning by a pulsed laser spot (hereinafter, referred to as a pulse laser).

制御装置１４は、制御回路７に制御コマンド１１を送信する。制御回路７は受信した制御コマンド１１に基づいて制御信号４を生成し、生成した制御信号４を走査型送受光部３へ送信する。走査型送受光部３は、受信した制御信号４に基づいてパルスレーザ１を外部の被測定物（図示省略）に照射する。 The control device 14 transmits a control command 11 to the control circuit 7. The control circuit 7 generates a control signal 4 based on the received control command 11, and transmits the generated control signal 4 to the scanning type transmission / reception unit 3. The scanning type transmission / reception unit 3 irradiates an external object to be measured (not shown) with a pulse laser 1 based on the received control signal 4.

照射されたパルスレーザ１は、被測定物に当たると、その一部が反射光２として走査型送受光部３に入射する。走査型送受光部３は、入射した反射光２を基に反射信号５を生成し、生成した反射信号５を角度信号６と共に制御回路７へ送信する。角度信号というのは、レーザスポットの走査角度を示す信号である。 When the irradiated pulse laser 1 hits the object to be measured, a part of the irradiated pulse laser 1 is incident on the scanning type transmitting / receiving unit 3 as reflected light 2. The scanning type transmitting / receiving unit 3 generates a reflected signal 5 based on the incident reflected light 2, and transmits the generated reflected signal 5 together with the angle signal 6 to the control circuit 7. The angular signal is a signal indicating the scanning angle of the laser spot.

制御回路７は、受信した反射信号５及び角度信号６を基に、形成されるべき強度画像の画素毎に、被測定物までの距離値９、反射光の受光強度値（以下、強度値と呼ぶ）８、及び強度画像上の画素位置を示すための画素アドレス１０を生成し、生成した距離値９、画素アドレス１０を強度値置換回路１２及び制御装置１４へ送信する。制御回路７はまた、生成した強度値８を強度値置換回路１２へ送信する。なお、制御回路７における処理については良く知られているので、詳しい説明は省略する。 The control circuit 7 has a distance value 9 to the object to be measured and a received intensity value of the reflected light (hereinafter referred to as an intensity value) for each pixel of the intensity image to be formed based on the received reflected signal 5 and the angle signal 6. (Call) 8 and the pixel address 10 for indicating the pixel position on the intensity image are generated, and the generated distance value 9 and the pixel address 10 are transmitted to the intensity value replacement circuit 12 and the control device 14. The control circuit 7 also transmits the generated intensity value 8 to the intensity value replacement circuit 12. Since the processing in the control circuit 7 is well known, detailed description thereof will be omitted.

強度値置換回路１２は、受信した距離値９、強度値８、及び画素アドレス１０を基に強度値１３を生成し、生成した強度値１３を制御装置１４へ送信する。強度値９と強度値１３の違いは、後述する強度値置換回路１２の説明で明らかになる。 The intensity value substitution circuit 12 generates an intensity value 13 based on the received distance value 9, intensity value 8, and pixel address 10, and transmits the generated intensity value 13 to the control device 14. The difference between the intensity value 9 and the intensity value 13 will be clarified in the description of the intensity value replacement circuit 12 described later.

制御回路７、強度値置換回路１２、制御装置１４は、プログラム制御に従って処理を実行する１つのコンピュータ又はＣＰＵ（Central Processing Unit）あるいは複数の回路によって実現することができるが、個別のコンピュータ又はＣＰＵで実現されても良い。 The control circuit 7, the intensity value substitution circuit 12, and the control device 14 can be realized by one computer or CPU (Central Processing Unit) or a plurality of circuits that execute processing according to program control, but can be realized by individual computers or CPUs. It may be realized.

制御装置１４は、受信した距離値９、強度値１３、画素アドレス１０を基に距離画像及び強度画像を生成し表示装置（図示省略）に表示させる。なお、距離画像、強度画像を表示させるための具体的手法は、周知であるので、詳しい説明は省略する。 The control device 14 generates a distance image and an intensity image based on the received distance value 9, intensity value 13, and pixel address 10, and displays them on a display device (not shown). Since the specific method for displaying the distance image and the intensity image is well known, detailed description thereof will be omitted.

図４は本発明に係るレーザレーダ装置の要部を為す強度値置換回路１２の基本的な動作フローを示した図である。図４のステップＳ３０１において、制御回路７から受信した距離値９、強度値８、画素アドレス１０を用いた以下の処理がスタートする。ステップＳ３０２では、強度値置換回路１２は、画素アドレスに基づいて注目画素とこれに隣接する１個以上の隣接画素を決定する。強度値置換回路１２はまた、決定した注目画素が隣接画素と距離が同等で、かつ注目画素の強度値が隣接画素の強度値より低いかどうかの判別を行う。ここで、「同等」というのは、注目画素の距離値と隣接画素の距離値の差があらかじめ決められた距離しきい値以下、すなわち｜注目画素の距離値−隣接画素の距離値｜≦距離しきい値であることを意味する。それゆえ、距離しきい値は大きな値ではない。また、「隣接」というのは、注目画素を中心として所定画素分の範囲内の画素を意味する。「所定画素分」というのは、通常、画素１個分で良い。「同等」、「隣接」の意味は、以降の説明における「同等」、「隣接」についても同じである。 FIG. 4 is a diagram showing a basic operation flow of the intensity value replacement circuit 12 which forms a main part of the laser radar device according to the present invention. In step S301 of FIG. 4, the following processing using the distance value 9, the intensity value 8, and the pixel address 10 received from the control circuit 7 starts. In step S302, the intensity value substitution circuit 12 determines the pixel of interest and one or more adjacent pixels adjacent thereto based on the pixel address. The intensity value substitution circuit 12 also determines whether or not the determined pixel of interest has the same distance as the adjacent pixel and the intensity value of the pixel of interest is lower than the intensity value of the adjacent pixel. Here, "equivalent" means that the difference between the distance value of the pixel of interest and the distance value of the adjacent pixel is less than or equal to a predetermined distance threshold value, that is, | distance value of the pixel of interest-distance value of the adjacent pixel | ≤ distance. It means that it is a threshold. Therefore, the distance threshold is not a large value. Further, "adjacent" means a pixel within a range of a predetermined pixel centering on the pixel of interest. The "predetermined pixel amount" is usually one pixel amount. The meanings of "equivalent" and "adjacent" are the same for "equivalent" and "adjacent" in the following description.

ステップＳ３０２において、決定した注目画素が隣接画素と距離が同等で、かつ注目画素の強度値が隣接画素の強度値より低いと判別した場合（ステップＳ３０２のＹｅｓ）、強度値置換回路１２は、注目画素は強度低下した画素と判断する。強度値置換回路１２は、続いて、距離が同等で、かつ強度低下が発生していない隣接画素を探し（ステップＳ３０３）、強度低下した画素の強度値を、距離が同等で、かつ強度低下が発生していない隣接画素の強度値と置換し、これを強度値１３として制御装置１４に送信する（ステップＳ３０４）。 In step S302, when it is determined that the determined pixel of interest has the same distance as the adjacent pixel and the intensity value of the pixel of interest is lower than the intensity value of the adjacent pixel (Yes in step S302), the intensity value replacement circuit 12 pays attention. The pixel is determined to be a pixel with reduced strength. The intensity value substitution circuit 12 subsequently searches for adjacent pixels having the same distance and no decrease in intensity (step S303), and determines the intensity values of the pixels having the same distance and the decrease in intensity. It is replaced with the intensity value of the adjacent pixel that has not been generated, and this is transmitted to the control device 14 as the intensity value 13 (step S304).

強度値置換回路１２は、注目画素の距離値が隣接画素の距離値と同等ではない、又は注目画素の強度値が隣接画素の強度値と同等以上の場合、注目画素は強度低下した画素ではないと判断し（ステップＳ３０２のＮｏ）、ステップＳ３０５に移行して注目画素の強度値は置換せず、元の強度値のままで強度値１３として制御装置１４に送信する。 In the intensity value replacement circuit 12, if the distance value of the pixel of interest is not equal to the distance value of the adjacent pixel, or the intensity value of the pixel of interest is equal to or greater than the intensity value of the adjacent pixel, the pixel of interest is not a pixel with reduced intensity. (No in step S302), the process proceeds to step S305, and the intensity value of the pixel of interest is not replaced, and the original intensity value is transmitted to the control device 14 as the intensity value 13.

強度値置換回路１２は、以上の動作を対象となる画素アドレスを持つすべての画素について行う。 The intensity value substitution circuit 12 performs the above operation for all pixels having a target pixel address.

なお、図４で説明した動作は、詳しく説明すると、先に距離値が同等の隣接画素を探す第１のケースと、先に強度値が低下した注目画素を探す第２のケースとに分けることができ、以下にこれらの動作について説明する。 The operation described with reference to FIG. 4 is divided into a first case of searching for adjacent pixels having the same distance value first and a second case of searching for a pixel of interest having a reduced intensity value first. This is possible, and these operations will be described below.

（第１の実施形態の第１のケース）
図５は、強度値置換回路１２の詳細な動作フローを、上記第１のケース、すなわち先に距離値が同等の隣接画素を探す場合について示した図である。 (First case of the first embodiment)
FIG. 5 is a diagram showing a detailed operation flow of the intensity value replacement circuit 12 in the first case, that is, a case where adjacent pixels having the same distance value are first searched for.

図５において、動作がスタートすると、強度値置換回路１２は、制御回路７で生成された各画素の距離値、強度値、画素アドレスを用いて処理を開始する（ステップＳ５０１）。以下の説明において、A1は注目画素の距離値、B1は注目画素の隣接画素の距離値、C1は処理ステップＳ５０４で抽出した注目画素の強度値、D1は処理ステップＳ５０４で抽出した注目画素の隣接画素の強度値、E1は処理ステップＳ５０６で抽出した注目画素の強度値、F1は処理ステップＳ５０６で抽出した注目画素の隣接画素の強度値であるとする。 In FIG. 5, when the operation is started, the intensity value replacement circuit 12 starts processing using the distance value, intensity value, and pixel address of each pixel generated by the control circuit 7 (step S501). In the following description, A1 is the distance value of the pixel of interest, B1 is the distance value of the adjacent pixel of the pixel of interest, C1 is the intensity value of the pixel of interest extracted in the processing step S504, and D1 is the adjacent pixel of the attention pixel extracted in the processing step S504. It is assumed that the pixel intensity value, E1 is the intensity value of the pixel of interest extracted in the processing step S506, and F1 is the intensity value of the adjacent pixel of the pixel of interest extracted in the processing step S506.

判断ステップＳ５０２（第１の判別処理）では、強度値置換回路１２は注目画素とその隣接画素を決定し、｜A1-B1｜≦距離しきい値（所定の第１の距離しきい値）の判定を行う。強度値置換回路１２は、判定結果がYes（つまり、｜A1-B1｜が距離しきい値以下）の場合、処理ステップＳ５０４へ進み、判定結果がNo（つまり、｜A1-B1｜が距離しきい値を越える）の場合、処理ステップＳ５０３へ進む。ここで、｜A1-B1｜が距離しきい値以下というのは、注目画素が隣接画素と距離が同等であることを意味する。「同等」の意味は、図４において説明した通りである。 In the determination step S502 (first determination process), the intensity value substitution circuit 12 determines the pixel of interest and its adjacent pixels, and | A1-B1 | ≤ distance threshold value (predetermined first distance threshold value). Make a judgment. When the determination result is Yes (that is, | A1-B1 | is equal to or less than the distance threshold value), the intensity value replacement circuit 12 proceeds to the processing step S504, and the determination result is No (that is, | A1-B1 | is a distance). If it exceeds the threshold value), the process proceeds to process step S503. Here, when | A1-B1 | is equal to or less than the distance threshold value, it means that the pixel of interest has the same distance as the adjacent pixel. The meaning of "equivalent" is as described in FIG.

処理ステップＳ５０４（第１の抽出処理）では、強度値置換回路１２は、判断ステップＳ５０２でYesとなる注目画素およびその際の隣接画素を抽出する。一方、処理ステップＳ５０３では、強度値置換回路１２は、注目画素の強度値は置換せずに、そのまま強度値１３として制御装置１４に送信する。 In the processing step S504 (first extraction processing), the intensity value substitution circuit 12 extracts the pixel of interest and the adjacent pixel at that time, which are Yes in the determination step S502. On the other hand, in the processing step S503, the intensity value replacement circuit 12 does not replace the intensity value of the pixel of interest, but transmits the intensity value 13 as it is to the control device 14.

処理ステップＳ５０４の実施後、強度値置換回路１２は、判断ステップＳ５０５へ進む。判断ステップＳ５０５（第２の判別処理）では、強度値置換回路１２は、(D1-C1)≧強度しきい値（所定の第１の強度しきい値）の判定を行う。強度値置換回路１２は、判定結果がYes（つまり、(D1-C1)が強度しきい値以上）の場合、処理ステップＳ５０６へ進み、判定結果がNo（つまり、(D1-C1)が強度しきい値未満）の場合、処理ステップＳ５０３へ進む。ここで、(D1-C1)が強度しきい値以上というのは、注目画素の強度値が隣接画素の強度値より低いことを意味する。 After the execution of the processing step S504, the intensity value replacement circuit 12 proceeds to the determination step S505. In the determination step S505 (second determination process), the intensity value replacement circuit 12 determines (D1-C1) ≥ intensity threshold value (predetermined first intensity threshold value). When the determination result is Yes (that is, (D1-C1) is equal to or greater than the intensity threshold value), the intensity value substitution circuit 12 proceeds to the process step S506, and the determination result is No (that is, (D1-C1) is intense). If it is less than the threshold value), the process proceeds to process step S503. Here, when (D1-C1) is equal to or higher than the intensity threshold value, it means that the intensity value of the pixel of interest is lower than the intensity value of the adjacent pixel.

処理ステップＳ５０６（第２の抽出処理）では、強度値置換回路１２は、判断ステップＳ５０５でYesとなる注目画素を抽出し、処理ステップＳ５０７に進む。処理ステップＳ５０７（第３の抽出処理）では、強度値置換回路１２は、処理ステップＳ５０６で抽出した注目画素において、｜F1-E1｜≦強度しきい値（所定の第２の強度しきい値）を満たす注目画素の隣接画素を抽出し、処理ステップＳ５０８へ進む。｜F1-E1｜≦強度しきい値を満たすということは、処理ステップＳ５０６で抽出した注目画素の強度値E1と、処理ステップＳ５０６で抽出した注目画素の隣接画素の強度値F1が同等であることを意味する。言い換えれば、処理ステップＳ５０７は、強度低下が発生していない注目画素を探す処理であると言える。 In the processing step S506 (second extraction processing), the intensity value replacement circuit 12 extracts the pixel of interest that is Yes in the determination step S505, and proceeds to the processing step S507. In the processing step S507 (third extraction processing), the intensity value substitution circuit 12 | F1-E1 | ≤ intensity threshold value (predetermined second intensity threshold value) in the pixel of interest extracted in the processing step S506. Adjacent pixels of the pixel of interest satisfying the above are extracted, and the process proceeds to processing step S508. | F1-E1 | ≤ Intensity threshold means that the intensity value E1 of the pixel of interest extracted in the processing step S506 and the intensity value F1 of the adjacent pixel of the pixel of interest extracted in the processing step S506 are equivalent. Means. In other words, it can be said that the processing step S507 is a process of searching for a pixel of interest in which the intensity reduction has not occurred.

処理ステップＳ５０８では、強度値置換回路１２は、処理ステップＳ５０６で抽出した注目画素の強度値を、処理ステップＳ５０７で抽出した隣接画素の強度値に置換し、これを強度値１３として制御装置１４に送信する。 In the processing step S508, the intensity value replacement circuit 12 replaces the intensity value of the pixel of interest extracted in the processing step S506 with the intensity value of the adjacent pixel extracted in the processing step S507, and uses this as the intensity value 13 in the control device 14. Send.

強度値置換回路１２は、以上の動作を対象となる画素アドレスを持つすべての画素について行う。 The intensity value substitution circuit 12 performs the above operation for all pixels having a target pixel address.

（第１のケースの効果）
上記の第１のケースによれば、強度低下が発生する画素の強度値を、同等の距離で、かつ強度低下が発生していない隣接画素の強度値と置換することで、縁取りされたような不自然な画像とならない、良好な強度画像を得ることができる。 (Effect of the first case)
According to the first case described above, it seems that the image is bordered by replacing the intensity value of the pixel in which the intensity decrease occurs with the intensity value of the adjacent pixel in which the intensity decrease does not occur at the same distance. It is possible to obtain a good intensity image that does not give an unnatural image.

（第１の実施形態の第２のケース）
図６は、強度値置換回路１２の詳細な動作フローを、上記第２のケース、すなわち先に反射光の強度が低下した画素を探す場合について示した図である。 (Second case of the first embodiment)
FIG. 6 is a diagram showing a detailed operation flow of the intensity value replacement circuit 12 in the second case, that is, a case where a pixel in which the intensity of the reflected light is lowered is searched for first.

図６において、動作がスタートすると、強度値置換回路１２は、制御回路７で生成された各画素の距離値、強度値、画素アドレスを用いて処理を開始する（ステップＳ６０１）。以下の説明において、A2は注目画素の強度値、B2は注目画素の隣接画素の強度値、C2は処理ステップＳ６０３で抽出した注目画素の距離値、D2は処理ステップＳ６０３で抽出した注目画素の隣接画素の距離値、E2は処理ステップＳ６０５で抽出した注目画素の強度値、F2は処理ステップＳ６０５で抽出した注目画素の隣接画素の強度値であるとする。 In FIG. 6, when the operation is started, the intensity value replacement circuit 12 starts processing using the distance value, intensity value, and pixel address of each pixel generated by the control circuit 7 (step S601). In the following description, A2 is the intensity value of the pixel of interest, B2 is the intensity value of the adjacent pixel of the pixel of interest, C2 is the distance value of the pixel of interest extracted in processing step S603, and D2 is the adjacent pixel of interest extracted in processing step S603. It is assumed that the pixel distance value, E2 is the intensity value of the pixel of interest extracted in the processing step S605, and F2 is the intensity value of the adjacent pixel of the pixel of interest extracted in the processing step S605.

判断ステップＳ６０２（第３の判別処理）では、強度値置換回路１２は注目画素とその隣接画素を決定し、(B2-A2)≧強度しきい値（所定の第３の強度しきい値）の判定を行う。強度値置換回路１２は、判定結果がYes（つまり、(B2-A2)が強度しきい値以上）の場合、処理ステップＳ６０３へ進み、判定結果がNo（つまり、(B2-A2)が強度しきい値未満）の場合、処理ステップＳ６０８へ進む。 In the determination step S602 (third determination process), the intensity value substitution circuit 12 determines the pixel of interest and its adjacent pixels, and (B2-A2) ≥ intensity threshold value (predetermined third intensity threshold value). Make a judgment. When the determination result is Yes (that is, (B2-A2) is equal to or greater than the intensity threshold value), the intensity value substitution circuit 12 proceeds to the process step S603, and the determination result is No (that is, (B2-A2) is intense). If it is less than the threshold value), the process proceeds to process step S608.

処理ステップＳ６０３（第４の抽出処理）では、強度値置換回路１２は、判断ステップＳ６０２でYesとなる注目画素およびその際の隣接画素を抽出する。一方、処理ステップＳ６０８では、強度値置換回路１２は、注目画素の強度値は置換せずに、そのまま強度値１３として制御装置１４に送信する。 In the processing step S603 (fourth extraction process), the intensity value substitution circuit 12 extracts the pixel of interest and the adjacent pixel at that time, which are Yes in the determination step S602. On the other hand, in the processing step S608, the intensity value replacement circuit 12 does not replace the intensity value of the pixel of interest, but transmits the intensity value 13 as it is to the control device 14.

処理ステップＳ６０３の実施後、強度値置換回路１２は、判断ステップＳ６０４へ進む。判断ステップＳ６０４（第４の判別処理）では、強度値置換回路１２は、｜C2-D2｜≦距離しきい値（所定の第２の距離しきい値）の判定を行う。強度値置換回路１２は、判定結果がYes（つまり、｜C2-D2｜が距離しきい値以下）の場合、処理ステップＳ６０５へ進み、No（つまり、｜C2-D2｜が距離しきい値を越える）の場合、処理ステップＳ６０８へ進む。ここで、｜C2-D2｜が距離しきい値以下というのは、処理ステップＳ６０３で抽出した注目画素の距離値C2と処理ステップＳ６０３で抽出した注目画素の隣接画素の距離値D2が同等であることを意味する。 After the execution of the processing step S603, the intensity value replacement circuit 12 proceeds to the determination step S604. In the determination step S604 (fourth determination process), the intensity value replacement circuit 12 determines | C2-D2 | ≤ distance threshold value (predetermined second distance threshold value). When the determination result is Yes (that is, | C2-D2 | is equal to or less than the distance threshold value), the intensity value replacement circuit 12 proceeds to process step S605, and No (that is, | C2-D2 | sets the distance threshold value). In the case of exceeding), the process proceeds to process step S608. Here, | C2-D2 | is equal to or less than the distance threshold value because the distance value C2 of the pixel of interest extracted in the processing step S603 and the distance value D2 of the adjacent pixel of the pixel of interest extracted in the processing step S603 are equivalent. Means that.

処理ステップＳ６０５（第５の抽出処理）では、強度値置換回路１２は、判断ステップＳ６０４でYesとなる注目画素を抽出し、処理ステップＳ６０６に進む。処理ステップＳ６０６（第６の抽出処理）では、強度値置換回路１２は、処理ステップＳ６０５で抽出した注目画素の隣接画素のうち、｜F2-E2｜≦強度しきい値（所定の第４の強度しきい値）を満たす隣接画素を抽出し、処理ステップＳ６０７へ進む。ここで、｜F2-E2｜が強度しきい値以下というのは、処理ステップＳ６０５で抽出した注目画素の強度値E2と、処理ステップＳ６０５で抽出した注目画素の隣接画素の強度値F2が同等であることを意味する。 In the processing step S605 (fifth extraction processing), the intensity value replacement circuit 12 extracts the pixel of interest that is Yes in the determination step S604, and proceeds to the processing step S606. In the process step S606 (sixth extraction process), the intensity value replacement circuit 12 has | F2-E2 | ≤ intensity threshold value (predetermined fourth intensity) among the adjacent pixels of the pixel of interest extracted in the process step S605. Adjacent pixels satisfying the threshold value) are extracted, and the process proceeds to process step S607. Here, | F2-E2 | is equal to or less than the intensity threshold value because the intensity value E2 of the pixel of interest extracted in the processing step S605 and the intensity value F2 of the adjacent pixel of the pixel of interest extracted in the processing step S605 are equivalent. It means that there is.

処理ステップＳ６０７では、強度値置換回路１２は、処理ステップＳ６０５で抽出した注目画素の強度値を、処理ステップＳ６０６で抽出した隣接画素の強度値に置換し、これを強度値１３として制御装置１４に送信する。 In the processing step S607, the intensity value replacement circuit 12 replaces the intensity value of the pixel of interest extracted in the processing step S605 with the intensity value of the adjacent pixel extracted in the processing step S606, and uses this as the intensity value 13 in the control device 14. Send.

強度値置換回路１２は、以上の動作を対象となる画素アドレスを持つすべての画素について行う。 The intensity value substitution circuit 12 performs the above operation for all pixels having a target pixel address.

（第２のケースの効果）
上記の第１のケースにおいても、強度低下が発生する画素の強度値を、同等の距離で、かつ強度低下が発生していない隣接画素の強度値と置換することで、縁取りされたような不自然な画像とならない、良好な強度画像を得ることができる。 (Effect of the second case)
Also in the first case described above, by replacing the intensity value of the pixel in which the intensity decrease occurs with the intensity value of the adjacent pixel in which the intensity decrease does not occur at the same distance, the border is not formed. It is possible to obtain a good intensity image that does not become a natural image.

以上、実施形態を参照して本発明を説明したが、本発明は上記実施形態に限定されるものではない。本発明の構成や詳細には、本発明のスコープ内で当業者が理解し得る様々な変更をすることができる。 Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the structure and details of the present invention within the scope of the present invention.

本発明によるレーザレーダ装置及び強度画像取得方法は、偵察用カメラ、航空機搭載カメラ、誘導装置等の様々な分野に適用可能である。 The laser radar device and the intensity image acquisition method according to the present invention can be applied to various fields such as a reconnaissance camera, an aircraft-mounted camera, and a guidance device.

３ 走査型送受光部
７ 制御回路
１２ 強度値置換回路
１４ 制御装置 3 Scanning type transmitter / receiver 7 Control circuit 12 Intensity value replacement circuit 14 Control device

Claims (9)

レーザ光による走査を制御するための制御コマンドを生成して出力する制御装置と、
前記制御コマンドに基づいて制御信号を出力する制御回路と、
前記制御信号に基づいて被測定物をレーザ光で走査してその反射光を受光し、受光した反射光から画素毎の反射信号及び前記レーザ光の走査角度を示す角度信号を生成して前記制御回路に出力する走査型送受光部と、
前記制御回路と前記制御装置との間に接続された強度値置換回路と、を含み、
前記制御回路は、前記走査型送受光部からの画素毎の前記反射信号及び前記角度信号に基づいて前記被測定物までの距離値、反射光の強度値、及び画素アドレスを生成して、前記距離値及び前記画素アドレスを前記制御装置に送信すると共に、前記距離値、前記強度値及び前記画素アドレスを前記強度値置換回路に送信し、
前記強度値置換回路は、前記距離値、前記強度値及び前記画素アドレスを用いて、注目画素とその隣接画素との間で、前記被測定物までの距離が同等で、かつ隣接画素の強度値より低い強度値を持つ注目画素の有無について判別を行い、有りと判別すると、距離値が同等でかつ強度低下の無い隣接画素をさがしたうえで、有りと判別した前記注目画素の強度値を、前記強度低下の無い隣接画素の強度値で置換し、置換した強度値を前記制御装置に送信し、無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行し、
前記制御装置は、前記制御回路からの前記距離値及び前記画素アドレスと前記強度値置換回路からの前記強度値に基づいて強度画像を生成することを特徴とするレーザレーダ装置。 A control device that generates and outputs control commands for controlling scanning by laser light,
A control circuit that outputs a control signal based on the control command,
Based on the control signal, the object to be measured is scanned with a laser beam to receive the reflected light, and the reflected signal for each pixel and an angle signal indicating the scanning angle of the laser beam are generated from the received reflected light to control the control. A scanning type transmitter / receiver that outputs to the circuit,
Includes a strength value replacement circuit connected between the control circuit and the control device.
The control circuit generates the distance value to the object to be measured, the intensity value of the reflected light, and the pixel address based on the reflected signal and the angle signal for each pixel from the scanning type transmitting / receiving unit, and the said. The distance value and the pixel address are transmitted to the control device, and the distance value, the intensity value and the pixel address are transmitted to the intensity value replacement circuit.
The intensity value replacement circuit uses the distance value, the intensity value, and the pixel address to obtain the same distance to the object to be measured between the pixel of interest and its adjacent pixel, and the intensity value of the adjacent pixel. The presence or absence of the attention pixel having a lower intensity value is determined, and if it is determined to be present, the intensity value of the attention pixel determined to be present is determined after searching for adjacent pixels having the same distance value and no decrease in intensity. The intensity value of the adjacent pixel without the decrease in intensity is replaced with the intensity value of the adjacent pixel, and the replaced intensity value is transmitted to the control device. Execute the process to send and
The control device is a laser radar device that generates an intensity image based on the distance value from the control circuit, the pixel address, and the intensity value from the intensity value replacement circuit. 前記強度値置換回路は、前記処理として、
注目画素とその隣接画素との間で、当該注目画素の距離値と当該隣接画素の距離値との差が所定の第１の距離しきい値以下となる注目画素の有無について判別する第１の判別処理と、
前記第１の判別処理で有りと判別すると、有りと判別した注目画素とその際の隣接画素を抽出する第１の抽出処理と、
抽出された前記注目画素の強度値C1と抽出された前記隣接画素の強度値D1との差(D1-C1)が所定の第１の強度しきい値以上となる注目画素の有無について判別する第２の判別処理と、
前記第２の判別処理で有りと判別すると、有りと判別した注目画素を抽出する第２の抽出処理と、
前記第２の抽出処理で抽出した注目画素において、当該注目画素の強度値との差が所定の第２の強度しきい値以下となる注目画素の隣接画素を抽出する第３の抽出処理と、
前記第２の抽出処理で抽出した注目画素の強度値を、前記第３の抽出処理で抽出した前記隣接画素の強度値に置換して前記制御装置に送信する処理と、を実行し、
前記第１の判別処理及び前記第２の判別処理で無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行することを特徴とする請求項１に記載のレーザレーダ装置。 The intensity value substitution circuit is used as the process.
A first determination of whether or not there is a pixel of interest between a pixel of interest and its adjacent pixel in which the difference between the distance value of the pixel of interest and the distance value of the adjacent pixel is equal to or less than a predetermined first distance threshold value. Discrimination process and
When it is determined that there is a presence in the first determination process, the first extraction process for extracting the attention pixel determined to be present and the adjacent pixel at that time, and the first extraction process.
First, it is determined whether or not there is a pixel of interest in which the difference (D1-C1) between the intensity value C1 of the extracted pixel of interest and the intensity value D1 of the extracted adjacent pixel is equal to or greater than a predetermined first intensity threshold value. 2 discrimination processing and
When it is determined that there is a presence in the second determination process, the second extraction process for extracting the attention pixel determined to be present and the second extraction process
In the attention pixel extracted by the second extraction process, a third extraction process for extracting adjacent pixels of the attention pixel whose difference from the intensity value of the attention pixel is equal to or less than a predetermined second intensity threshold value, and a third extraction process.
A process of replacing the intensity value of the pixel of interest extracted by the second extraction process with the intensity value of the adjacent pixel extracted by the third extraction process and transmitting the intensity value to the control device is executed.
When it is determined that the first determination process and the second determination process are not performed, the claim is characterized in that a process of transmitting the intensity value of the pixel of interest determined to be absent to the control device as it is is executed. Item 1. The laser radar device according to item 1. 前記強度値置換回路は、前記処理として、
注目画素とその隣接画素との間で、当該注目画素の強度値A2と当該隣接画素の強度値B2との差(B2-A2)が所定の第３の強度しきい値以上となる注目画素の有無について判別する第３の判別処理と、
前記第３の判別処理で有りと判別すると、有りと判別した注目画素とその際の隣接画素を抽出する第４の抽出処理と、
抽出された前記注目画素の距離値と抽出された前記隣接画素の距離値との差が所定の第２の距離しきい値以下となる注目画素の有無について判別する第４の判別処理と、
前記第４の判別処理で有りと判別すると、有りと判別した注目画素を抽出する第５の抽出処理と、
前記第５の抽出処理で抽出した注目画素において、当該注目画素の強度値との差が所定の第４の強度しきい値以下となる注目画素の隣接画素を抽出する第６の抽出処理と、
前記第６の抽出処理で抽出した注目画素の強度値を、前記第６の抽出処理で抽出した前記隣接画素の強度値に置換して前記制御装置に送信する処理と、を実行し、
前記第３の判別処理及び前記第４の判別処理で無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行することを特徴とする請求項１に記載のレーザレーダ装置。 The intensity value substitution circuit is used as the process.
A pixel of interest in which the difference (B2-A2) between the intensity value A2 of the pixel of interest and the intensity value B2 of the adjacent pixel between the pixel of interest and its adjacent pixels is equal to or greater than a predetermined third intensity threshold value. A third determination process for determining the presence or absence, and
When it is determined that there is a presence in the third determination process, a fourth extraction process for extracting the attention pixel determined to be present and the adjacent pixel at that time, and
A fourth determination process for determining the presence or absence of an attention pixel whose difference between the extracted distance value of the attention pixel and the extracted distance value of the adjacent pixel is equal to or less than a predetermined second distance threshold value.
When it is determined that there is a presence in the fourth determination process, the fifth extraction process for extracting the attention pixel determined to be present and the fifth extraction process
A sixth extraction process for extracting adjacent pixels of the attention pixel whose difference from the intensity value of the attention pixel is equal to or less than a predetermined fourth intensity threshold value in the attention pixel extracted by the fifth extraction process.
A process of replacing the intensity value of the pixel of interest extracted by the sixth extraction process with the intensity value of the adjacent pixel extracted by the sixth extraction process and transmitting the intensity value to the control device is executed.
When it is determined that the third determination process and the fourth determination process are not performed, a process of transmitting the intensity value of the pixel of interest determined to be absent to the control device as it is is executed. Item 1. The laser radar device according to item 1. レーザ光による走査を制御するための制御コマンドを生成して出力する制御装置と、
前記制御コマンドに基づいて制御信号を出力する制御回路と、
前記制御信号に基づいて被測定物をレーザ光で走査してその反射光を受光し、受光した反射光から画素毎の反射信号及び前記レーザ光の走査角度を示す角度信号を生成して前記制御回路に出力する走査型送受光部と、
前記制御回路と前記制御装置との間に接続された強度値置換回路と、を含むレーザレーダ装置において用いる強度画像取得方法であって、
前記走査型送受光部からの画素毎の前記反射信号及び前記角度信号に基づいて前記被測定物までの距離値、反射光の強度値、及び画素アドレスを生成して、前記距離値及び前記画素アドレスを前記制御装置に送信すると共に、前記距離値、前記強度値及び前記画素アドレスを前記強度値置換回路に送信し、
前記距離値、前記強度値及び前記画素アドレスを用いて、注目画素とその隣接画素との間で、前記被測定物までの距離が同等で、かつ隣接画素の強度値より低い強度値を持つ注目画素の有無について判別を行い、有りと判別すると、距離値が同等でかつ強度低下の無い隣接画素をさがしたうえで、有りと判別した前記注目画素の強度値を、前記強度低下の無い隣接画素の強度値で置換し、置換した強度値を前記制御装置に送信し、無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行し、
前記制御回路からの前記距離値及び前記画素アドレスと前記強度値置換回路からの前記強度値に基づいて強度画像を生成することを特徴とする強度画像取得方法。 A control device that generates and outputs control commands for controlling scanning by laser light,
A control circuit that outputs a control signal based on the control command,
Based on the control signal, the object to be measured is scanned with a laser beam to receive the reflected light, and the reflected signal for each pixel and an angle signal indicating the scanning angle of the laser beam are generated from the received reflected light to control the control. A scanning type transmitter / receiver that outputs to the circuit,
An intensity image acquisition method used in a laser radar device including an intensity value substitution circuit connected between the control circuit and the control device.
Based on the reflected signal and the angle signal for each pixel from the scanning type transmitter / receiver, the distance value to the object to be measured, the intensity value of the reflected light, and the pixel address are generated to generate the distance value and the pixel. The address is transmitted to the control device, and the distance value, the intensity value, and the pixel address are transmitted to the intensity value replacement circuit.
Attention that the distance to the object to be measured is the same between the pixel of interest and its adjacent pixel using the distance value, the intensity value, and the pixel address, and the intensity value is lower than the intensity value of the adjacent pixel. When the presence or absence of a pixel is determined and it is determined that the pixel is present, the adjacent pixel having the same distance value and no decrease in intensity is searched for, and the intensity value of the pixel of interest determined to be present is determined as the adjacent pixel without the decrease in intensity. The intensity value of the pixel is replaced with the intensity value of, and the replaced intensity value is transmitted to the control device. If it is determined that there is no such intensity value, the intensity value of the pixel of interest determined to be absent is transmitted to the control device as it is.
A method for acquiring an intensity image, which comprises generating an intensity image based on the distance value from the control circuit, the pixel address, and the intensity value from the intensity value replacement circuit. 前記処理として、
注目画素とその隣接画素との間で、当該注目画素の距離値と当該隣接画素の距離値との差が所定の第１の距離しきい値以下となる注目画素の有無について判別する第１の判別処理と、
前記第１の判別処理で有りと判別すると、有りと判別した注目画素とその際の隣接画素を抽出する第１の抽出処理と、
抽出された前記注目画素の強度値C1と抽出された前記隣接画素の強度値D1との差(D1-C1)が所定の第１の強度しきい値以上となる注目画素の有無について判別する第２の判別処理と、
前記第２の判別処理で有りと判別すると、有りと判別した注目画素を抽出する第２の抽出処理と、
前記第２の抽出処理で抽出した注目画素において、当該注目画素の強度値との差が所定の第２の強度しきい値以下となる注目画素の隣接画素を抽出する第３の抽出処理と、
前記第２の抽出処理で抽出した注目画素の強度値を、前記第３の抽出処理で抽出した前記隣接画素の強度値に置換して前記制御装置に送信する処理と、を実行し、
前記第１の判別処理及び前記第２の判別処理で無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行することを特徴とする請求項４に記載の強度画像取得方法。 As the above process
First, it is determined whether or not there is a pixel of interest between the pixel of interest and its adjacent pixel in which the difference between the distance value of the pixel of interest and the distance value of the adjacent pixel is equal to or less than a predetermined first distance threshold value. Discrimination process and
When it is determined that there is a presence in the first determination process, the first extraction process for extracting the attention pixel determined to be present and the adjacent pixel at that time, and the first extraction process.
First, it is determined whether or not there is a pixel of interest in which the difference (D1-C1) between the intensity value C1 of the extracted pixel of interest and the intensity value D1 of the extracted adjacent pixel is equal to or greater than a predetermined first intensity threshold value. 2 discrimination processing and
When it is determined that there is a presence in the second determination process, the second extraction process for extracting the attention pixel determined to be present and the second extraction process
In the attention pixel extracted by the second extraction process, a third extraction process for extracting adjacent pixels of the attention pixel whose difference from the intensity value of the attention pixel is equal to or less than a predetermined second intensity threshold value, and a third extraction process.
A process of replacing the intensity value of the pixel of interest extracted by the second extraction process with the intensity value of the adjacent pixel extracted by the third extraction process and transmitting the intensity value to the control device is executed.
When it is determined that the first determination process and the second determination process are not performed, the claim is characterized in that a process of transmitting the intensity value of the pixel of interest determined to be absent to the control device as it is is executed. Item 4. The intensity image acquisition method according to item 4. 前記処理として、
注目画素とその隣接画素との間で、当該注目画素の強度値A2と当該隣接画素の強度値B2との差(B2-A2)が所定の第３の強度しきい値以上となる注目画素の有無について判別する第３の判別処理と、
前記第３の判別処理で有りと判別すると、有りと判別した注目画素とその際の隣接画素を抽出する第４の抽出処理と、
抽出された前記注目画素の距離値と抽出された前記隣接画素の距離値との差が所定の第２の距離しきい値以下となる注目画素の有無について判別する第４の判別処理と、
前記第４の判別処理で有りと判別すると、有りと判別した注目画素を抽出する第５の抽出処理と、
前記第５の抽出処理で抽出した注目画素において、当該注目画素の強度値との差が所定の第４の強度しきい値以下となる注目画素の隣接画素を抽出する第６の抽出処理と、
前記第６の抽出処理で抽出した注目画素の強度値を、前記第６の抽出処理で抽出した前記隣接画素の強度値に置換して前記制御装置に送信する処理と、を実行し、
前記第３の判別処理及び前記第４の判別処理で無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行することを特徴とする請求項４に記載の強度画像取得方法。 As the above process
A pixel of interest in which the difference (B2-A2) between the intensity value A2 of the pixel of interest and the intensity value B2 of the adjacent pixel between the pixel of interest and its adjacent pixels is equal to or greater than a predetermined third intensity threshold value. A third determination process for determining the presence or absence, and
When it is determined that there is a presence in the third determination process, a fourth extraction process for extracting the attention pixel determined to be present and the adjacent pixel at that time, and
A fourth determination process for determining the presence or absence of an attention pixel whose difference between the extracted distance value of the attention pixel and the extracted distance value of the adjacent pixel is equal to or less than a predetermined second distance threshold value.
When it is determined that there is a presence in the fourth determination process, the fifth extraction process for extracting the attention pixel determined to be present and the fifth extraction process
A sixth extraction process for extracting adjacent pixels of the attention pixel whose difference from the intensity value of the attention pixel is equal to or less than a predetermined fourth intensity threshold value in the attention pixel extracted by the fifth extraction process.
A process of replacing the intensity value of the pixel of interest extracted by the sixth extraction process with the intensity value of the adjacent pixel extracted by the sixth extraction process and transmitting the intensity value to the control device is executed.
When it is determined that the third determination process and the fourth determination process are not performed, the claim is characterized in that a process of transmitting the intensity value of the pixel of interest determined to be absent to the control device as it is is executed. Item 4. The intensity image acquisition method according to item 4. レーザ光による走査を制御するための制御コマンドを生成して出力する制御装置と、
前記制御コマンドに基づいて制御信号を出力する制御回路と、
前記制御信号に基づいて被測定物をレーザ光で走査してその反射光を受光し、受光した反射光から画素毎の反射信号及び前記レーザ光の走査角度を示す角度信号を生成して前記制御回路に出力する走査型送受光部と、
前記制御回路と前記制御装置との間に接続された強度値置換回路と、を含むレーザレーダ装置であって、
前記制御回路においては、前記走査型送受光部からの画素毎の前記反射信号及び前記角度信号に基づいて前記被測定物までの距離値、反射光の強度値、及び画素アドレスを生成して、前記距離値及び前記画素アドレスを前記制御装置に送信すると共に、前記距離値、前記強度値及び前記画素アドレスを前記強度値置換回路に送信する、レーザレーダ装置において用いる強度画像取得用プログラムであって、
前記強度値置換回路を構成するコンピュータに、前記距離値、前記強度値及び前記画素アドレスを用いて、注目画素とその隣接画素との間で、前記被測定物までの距離が同等で、かつ隣接画素の強度値より低い強度値を持つ注目画素の有無について判別を行い、有りと判別すると、距離値が同等でかつ強度低下の無い隣接画素をさがしたうえで、有りと判別した前記注目画素の強度値を、前記強度低下の無い隣接画素の強度値で置換し、置換した強度値を前記制御装置に送信し、無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行させるための強度画像取得用プログラム。 A control device that generates and outputs control commands for controlling scanning by laser light,
A control circuit that outputs a control signal based on the control command,
Based on the control signal, the object to be measured is scanned with a laser beam to receive the reflected light, and the reflected signal for each pixel and an angle signal indicating the scanning angle of the laser beam are generated from the received reflected light to control the control. A scanning type transmitter / receiver that outputs to the circuit,
A laser radar device including an intensity value replacement circuit connected between the control circuit and the control device.
In the control circuit, the distance value to the object to be measured, the intensity value of the reflected light, and the pixel address are generated based on the reflected signal and the angle signal for each pixel from the scanning type transmitting / receiving unit. An intensity image acquisition program used in a laser radar device that transmits the distance value and the pixel address to the control device and also transmits the distance value, the intensity value, and the pixel address to the intensity value replacement circuit. ,
Using the distance value, the intensity value, and the pixel address in the computer constituting the intensity value replacement circuit, the distance to the object to be measured is the same and adjacent to the pixel of interest and the adjacent pixel thereof. The presence or absence of a pixel of interest having an intensity value lower than the intensity value of the pixel is determined, and if it is determined to be present, the adjacent pixel having the same distance value and no decrease in intensity is searched for, and then the pixel of interest that is determined to be present The intensity value is replaced with the intensity value of the adjacent pixel without the decrease in intensity, the replaced intensity value is transmitted to the control device, and when it is determined that there is no intensity value, the intensity value of the attention pixel determined to be absent is used as it is. A intensity image acquisition program for executing a process of transmitting to the control device. 前記コンピュータに、前記処理として、
注目画素とその隣接画素との間で、当該注目画素の距離値と当該隣接画素の距離値との差が所定の第１の距離しきい値以下となる注目画素の有無について判別する第１の判別処理と、
前記第１の判別処理で有りと判別すると、有りと判別した注目画素とその際の隣接画素を抽出する第１の抽出処理と、
抽出された前記注目画素の強度値C1と抽出された前記隣接画素の強度値D1との差(D1-C1)が所定の第１の強度しきい値以上となる注目画素の有無について判別する第２の判別処理と、
前記第２の判別処理で有りと判別すると、有りと判別した注目画素を抽出する第２の抽出処理と、
前記第２の抽出処理で抽出した注目画素において、当該注目画素の強度値との差が所定の第２の強度しきい値以下となる注目画素の隣接画素を抽出する第３の抽出処理と、
前記第２の抽出処理で抽出した注目画素の強度値を、前記第３の抽出処理で抽出した前記隣接画素の強度値に置換して前記制御装置に送信する処理と、を実行させるための、
前記第１の判別処理及び前記第２の判別処理で無いと判別した場合には、無いと判別した前記注目画素の強度値をそのまま前記制御装置に送信する処理を実行させるための請求項７に記載の強度画像取得用プログラム。 To the computer, as the process
First, it is determined whether or not there is a pixel of interest between the pixel of interest and its adjacent pixel in which the difference between the distance value of the pixel of interest and the distance value of the adjacent pixel is equal to or less than a predetermined first distance threshold value. Discrimination process and
When it is determined that there is a presence in the first determination process, the first extraction process for extracting the attention pixel determined to be present and the adjacent pixel at that time, and the first extraction process.
First, it is determined whether or not there is a pixel of interest in which the difference (D1-C1) between the intensity value C1 of the extracted pixel of interest and the intensity value D1 of the extracted adjacent pixel is equal to or greater than a predetermined first intensity threshold value. 2 discrimination processing and
When it is determined that there is a presence in the second determination process, the second extraction process for extracting the attention pixel determined to be present and the second extraction process
In the attention pixel extracted by the second extraction process, a third extraction process for extracting adjacent pixels of the attention pixel whose difference from the intensity value of the attention pixel is equal to or less than a predetermined second intensity threshold value, and a third extraction process.
A process of replacing the intensity value of the pixel of interest extracted by the second extraction process with the intensity value of the adjacent pixel extracted by the third extraction process and transmitting the intensity value to the control device.
7. According to claim 7, when it is determined that the first determination process and the second determination process are not performed, the process of transmitting the intensity value of the pixel of interest determined to be absent to the control device as it is is executed. Described intensity image acquisition program. 前記コンピュータに、前記処理として、
注目画素とその隣接画素との間で、当該注目画素の強度値A2と当該隣接画素の強度値B2との差(B2-A2)が所定の第３の強度しきい値以上となる注目画素の有無について判別する第３の判別処理と、
前記第３の判別処理で有りと判別すると、有りと判別した注目画素とその際の隣接画素を抽出する第４の抽出処理と、
抽出された前記注目画素の距離値と抽出された前記隣接画素の距離値との差が所定の第２の距離しきい値以下となる注目画素の有無について判別する第４の判別処理と、
前記第４の判別処理で有りと判別すると、有りと判別した注目画素を抽出する第５の抽出処理と、
前記第５の抽出処理で抽出した注目画素において、当該注目画素の強度値との差が所定の第４の強度しきい値以下となる注目画素の隣接画素を抽出する第６の抽出処理と、
前記第６の抽出処理で抽出した注目画素の強度値を、前記第６の抽出処理で抽出した前記隣接画素の強度値に置換して前記制御装置に送信する処理と、を実行させるための請求項７に記載の強度画像取得用プログラム。 To the computer, as the process
A pixel of interest in which the difference (B2-A2) between the intensity value A2 of the pixel of interest and the intensity value B2 of the adjacent pixel between the pixel of interest and its adjacent pixels is equal to or greater than a predetermined third intensity threshold value. A third determination process for determining the presence or absence, and
When it is determined that there is a presence in the third determination process, a fourth extraction process for extracting the attention pixel determined to be present and the adjacent pixel at that time, and
A fourth determination process for determining the presence or absence of an attention pixel whose difference between the extracted distance value of the attention pixel and the extracted distance value of the adjacent pixel is equal to or less than a predetermined second distance threshold value.
When it is determined that there is a presence in the fourth determination process, the fifth extraction process for extracting the attention pixel determined to be present and the fifth extraction process
A sixth extraction process for extracting adjacent pixels of the attention pixel whose difference from the intensity value of the attention pixel is equal to or less than a predetermined fourth intensity threshold value in the attention pixel extracted by the fifth extraction process.
A claim for executing a process of replacing the intensity value of the pixel of interest extracted in the sixth extraction process with the intensity value of the adjacent pixel extracted in the sixth extraction process and transmitting the image to the control device. Item 7. The intensity image acquisition program according to Item 7.
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