CN113376653A - Photon counting-based three-dimensional imaging method and device for computer-generated holographic radar - Google Patents
Photon counting-based three-dimensional imaging method and device for computer-generated holographic radar Download PDFInfo
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- CN113376653A CN113376653A CN202110927187.XA CN202110927187A CN113376653A CN 113376653 A CN113376653 A CN 113376653A CN 202110927187 A CN202110927187 A CN 202110927187A CN 113376653 A CN113376653 A CN 113376653A
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- 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
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- 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
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/48—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S17/00
- G01S7/483—Details of pulse systems
- G01S7/486—Receivers
- G01S7/4865—Time delay measurement, e.g. time-of-flight measurement, time of arrival measurement or determining the exact position of a peak
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Abstract
The application provides a method and a device for computing holographic radar three-dimensional imaging based on photon counting, comprising the following steps: counting according to the distribution condition of the collected echo photons to obtain a time-dependent photon counting histogram of each single photon detector unit; selecting a detection distance to calculate the flight time of photons; finding out the corresponding photon number at the photon flight time in each time-dependent photon counting histogram according to the calculated photon flight time; sequentially calculating the complex amplitude distribution of the target detected by each single-photon detector unit on the holographic surface; superposing the complex amplitude distribution corresponding to each single-photon detector unit to obtain the total complex amplitude distribution of the detection scene; constructing reference light; adding the total complex amplitude distribution and the reference light to obtain the total complex amplitude on the holographic surface; the total complex amplitude on the hologram surface is calculated using a hologram reconstruction algorithm to find the final hologram image. The depth information measuring method and device are high in depth information measuring accuracy and capable of rapidly detecting the target in a large scene.
Description
Technical Field
The application relates to the technical field of computer generated holography and single photon detection, in particular to a computer generated holography radar three-dimensional imaging method and device based on photon counting.
Background
With the continuous development of the artificial intelligence technology, the automatic driving technology gradually becomes an important research branch in the field of artificial intelligence, and in the automatic driving, the laser radar is the most widely adopted means for acquiring the ambient environment information. Laser radar has higher performance in the aspect of low latitude survey and concealment etc, can obtain higher distance, speed and angular resolution simultaneously, but laser radar receives weather effect great, and it is very poor to express under bad weather such as torrential rain, big fog, and the laser radar wave beam is very narrow moreover, consequently surveys the target very difficultly fast under big scene, can only search for the target in the small range, and laser radar cost is expensive simultaneously, consequently uses laser radar in the autopilot technique and has very big limitation.
The computer-generated hologram technology is a technology for finally forming a hologram by using a computer simulation and processing an optical process, which has emerged with the development of holography, digital computers, and computing technologies. Compared with the traditional holographic imaging technology, the computed holography technology has remarkable advantages in the aspects of improving the measurement precision, improving the image quality, storing the image and the like.
The single photon detection imaging technology adopts the principle that a single photon detector is utilized to detect the number of echo photons at each position of a target through photon counting so as to obtain a two-dimensional image of the target, meanwhile, the photon flight distance is calculated according to the photon flight time so as to obtain depth information of each position of the target, and finally, a three-dimensional reconstruction result of the target is obtained through algorithm processing. As a weak light signal detection technology, the single photon detection technology has very wide application in the aspects of laser ranging, automatic driving, non-visual field imaging, interstellar exploration and the like.
Disclosure of Invention
The present application is directed to solving, at least to some extent, one of the technical problems in the related art.
Therefore, a first objective of the present application is to provide a method for three-dimensional imaging of a computed holographic radar based on photon counting, which solves the problems that the existing vehicle-mounted laser radar is greatly influenced by weather, only targets in a small range can be searched, and the manufacturing cost is high.
The second purpose of the application is to provide a photon counting-based three-dimensional imaging device of the computer-generated holographic radar.
In order to achieve the above object, an embodiment of a first aspect of the present application provides a method for three-dimensional imaging of a computed holographic radar based on photon counting, including: collecting echo photons of a detection scene, and carrying out statistics according to the distribution condition of the collected echo photons to obtain a time-dependent photon counting histogram of each single photon detector unit; selecting a detection distance, and calculating the flight time of photons; finding out the corresponding photon number at the photon flight time in each time-dependent photon counting histogram according to the calculated photon flight time; sequentially calculating the complex amplitude distribution of the target detected by each single-photon detector unit on the holographic surface; superposing the complex amplitude distribution corresponding to each single-photon detector unit to obtain the total complex amplitude distribution of the detection scene on the holographic surface; constructing reference light; adding the total complex amplitude distribution and the reference light to obtain the total complex amplitude on the holographic surface; the total complex amplitude on the hologram surface is calculated using a hologram reconstruction algorithm to find the final hologram image.
Optionally, in an embodiment of the present application, the formula for calculating the time of flight of the photon is:
where c is the speed of light and d is the detection distance.
Optionally, in an embodiment of the present application, the calculation formula of the complex amplitude distribution of the target detected by the single-photon detector unit on the holographic surface is:
wherein i is the ith single photon detector unit,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength and d is the detection distance.
Optionally, in an embodiment of the present application, the calculation formula of the total complex amplitude distribution of the detection scene on the holographic surface is:
wherein the content of the first and second substances,
for the complex amplitude distribution corresponding to the ith single photon detector cell,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength and d is the detection distance.
Optionally, in an embodiment of the present application, the reference light formula is:
wherein r is the amplitude of the reference light,
as a reference light transmission distance, there is a distance,
is the laser wavelength.
Optionally, in an embodiment of the present application, the total complex amplitude on the holographic surface is calculated by the following formula:
wherein the content of the first and second substances,
is the total complex amplitude distribution of the detection scene on the holographic surface, R is the reference light,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength, d is the detection distance, r is the reference light amplitude,
is the reference light transmission distance.
Optionally, in one embodiment of the present application, the hologram reconstruction algorithm includes a fresnel transform method, a convolution method, and an angular spectrum method.
In order to achieve the above object, a second aspect of the present application provides a computed holographic radar three-dimensional imaging device based on photon counting, including:
the laser emitter is used for emitting laser to irradiate the detection scene;
the beam expander is used for expanding the laser emitted by the laser to ensure that the laser irradiates each part of the detection scene;
a single photon detector array for receiving echo photons reflected by a detection scene;
the time-dependent photon counter is used for counting the distribution condition of the echo photons of the detection scene and generating a time-dependent photon counting histogram;
and the digital processing module is used for controlling the circuit to synchronize and analyzing and processing the echo photon distribution condition counted by the time-dependent photon counter by an algorithm.
Optionally, in an embodiment of the present application, the laser emitter is a pulse laser, the single photon detector array is connected with a time-dependent photon counter, and the digital processing module includes a synchronization circuit and a computer.
Optionally, in an embodiment of the present application, the control circuit synchronization specifically includes:
and a synchronization circuit is respectively connected with the laser and the time-dependent photon counter, so that the time-dependent photon counter synchronously starts to time when the laser transmitter emits laser.
The photon counting-based three-dimensional imaging method and the photon counting-based three-dimensional imaging device for the computation holographic radar solve the problems that the conventional vehicle-mounted laser radar is greatly influenced by weather, only targets in a small range can be searched, and the cost is high.
Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.
Drawings
The foregoing and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of a method for computing a holographic radar three-dimensional imaging based on photon counting according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a three-dimensional imaging device for a computed holographic radar based on photon counting according to a second embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to the embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present application and should not be construed as limiting the present application.
The method and the device for photon counting-based three-dimensional imaging of the computed holographic radar in the embodiment of the application are described below with reference to the accompanying drawings.
Fig. 1 is a flowchart of a three-dimensional imaging method for a computed holographic radar based on photon counting according to an embodiment of the present disclosure.
As shown in FIG. 1, the photon counting-based three-dimensional imaging method for the computed holographic radar comprises the following steps:
102, selecting a detection distance and calculating the flight time of photons;
103, finding out the number of photons corresponding to the photon flight time in each time-dependent photon counting histogram according to the calculated photon flight time;
105, overlapping the complex amplitude distributions corresponding to the single photon detector units to obtain the total complex amplitude distribution of the detection scene on the holographic surface;
and step 108, calculating the total complex amplitude on the holographic surface by using a hologram reconstruction algorithm to obtain a final holographic image.
According to the photon counting-based three-dimensional imaging method for the computed holographic radar, echo photons of a detection scene are collected, and statistics is carried out according to the distribution condition of the collected echo photons to obtain a time-dependent photon counting histogram of each single photon detector unit; selecting a detection distance, and calculating the flight time of photons; finding out the corresponding photon number at the photon flight time in each time-dependent photon counting histogram according to the calculated photon flight time; sequentially calculating the complex amplitude distribution of the target detected by each single-photon detector unit on the holographic surface; superposing the complex amplitude distribution corresponding to each single-photon detector unit to obtain the total complex amplitude distribution of the detection scene on the holographic surface; constructing reference light; adding the total complex amplitude distribution and the reference light to obtain the total complex amplitude on the holographic surface; the total complex amplitude on the hologram surface is calculated using a hologram reconstruction algorithm to find the final hologram image. From this, can solve current on-vehicle lidar and receive weather influence great, only can search for target in the small range, and the problem that the cost is expensive, carry out three-dimensional reconstruction to surveying the scene through calculating holographically based on photon count, can be under the condition that need not scanning and shine, select the scene under the different ranges of different distances in a flexible way and carry out holographic three-dimensional reconstruction, when guaranteeing that depth information measurement accuracy is higher, can survey fast and provide the holographic three-dimensional image that compares a cloud visual perception effect is more excellent to the target under the big scene, the limitation of current on-vehicle lidar has been remedied effectively.
Echo photons are collected through the single photon detector array, and the distribution condition of the echo photons is counted through the time-dependent photon counter to obtain a time-dependent photon counting histogram.
Further, in the embodiment of the present application, the formula for calculating the time of flight of the photon is:
where c is the speed of light and d is the detection distance.
And flexibly selecting different detection distances and calculating the flight time of photons.
Further, in the embodiment of the present application, the calculation formula of the complex amplitude distribution of the target detected by the single-photon detector unit on the holographic surface is as follows:
wherein i is the ith single photon detector unit,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength and d is the detection distance.
Further, in the embodiment of the present application, the calculation formula of the total complex amplitude distribution of the detection scene on the holographic surface is:
wherein the content of the first and second substances,
for the complex amplitude distribution corresponding to the ith single photon detector cell,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength and d is the detection distance.
Further, in the embodiment of the present application, the reference light formula is:
wherein r is the amplitude of the reference light,
as a reference light transmission distance, there is a distance,
is the laser wavelength.
Further, in the embodiment of the present application, the calculation formula of the total complex amplitude on the holographic surface is:
wherein the content of the first and second substances,
is the total complex amplitude distribution of the detection scene on the holographic surface, R is the reference light,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength, d is the detection distance, r is the reference light amplitude,
is the reference light transmission distance.
Further, in the embodiments of the present application, the hologram reconstruction algorithm includes a fresnel transform method, a convolution method, and an angle spectrum method.
Aiming at the three-dimensional reconstruction of the surrounding environment scene in the automatic driving field, the method aims to display the surrounding environment scene in the form of the holographic three-dimensional image. The current vehicle-mounted laser radar adopted by automatic driving forms point cloud three-dimensional data by scanning an environment scene, and the method can obtain depth information with higher precision, but has poor display effect, and meanwhile, when the scene is too large, the target searching effect is not ideal. Therefore, the holographic three-dimensional reconstruction is calculated based on photon counting, laser emitted by a laser is expanded and then irradiated on a detection scene, echo photons of the detection scene are collected by using a single photon detector array, and a time-dependent photon counting histogram of the echo photons of the whole detection scene can be obtained on the premise that the detection scene is not scanned and irradiated. Calculating photon flight time according to the selected detection distance to further obtain the corresponding photon number, sequentially calculating and superposing the complex amplitude distribution of the target detected by each single-photon detector unit on the holographic surface, constructing reference light to calculate the total complex amplitude of the holographic surface, and obtaining the holographic three-dimensional reconstruction result of the detection scene at the selected detection distance by utilizing a holographic reconstruction algorithm.
Fig. 2 is a schematic structural diagram of a three-dimensional imaging device for a computed holographic radar based on photon counting according to a second embodiment of the present disclosure.
As shown in fig. 2, the photon counting-based computer-generated holographic radar three-dimensional imaging device comprises: the system comprises a laser transmitter 100, a beam expander 200, a single photon detector array 300, a time-dependent photon counter 400 and a digital processing module 500, wherein the laser transmitter 100 is used for transmitting laser to irradiate a detection scene 600; the beam expander 200 is configured to expand the laser light emitted by the laser 100 to ensure that the laser light irradiates each part of the detection scene 600; single photon detector array 300 is configured to receive echo photons reflected by detection scene 600; the time-dependent photon counter 400 is configured to count the distribution of the echo photons in the detection scene 600, and generate a time-dependent photon count histogram; the digital processing module 500 is used for controlling circuit synchronization and analyzing and processing algorithms of the collected data.
Further, in this embodiment of the present application, the laser emitter is a pulse laser, the single photon detector array is connected to the time-dependent photon counter, and the digital processing module includes a synchronization circuit and a computer.
Further, in the embodiment of the present application, the control circuit synchronization specifically includes:
and a synchronization circuit is respectively connected with the laser and the time-dependent photon counter, so that the time-dependent photon counter synchronously starts to time when the laser transmitter emits laser.
The photon counting-based three-dimensional imaging device for the computer-generated holographic radar comprises a laser transmitter, a light source and a light source, wherein the laser transmitter is used for transmitting laser to irradiate a detection scene; the beam expander is used for expanding the laser emitted by the laser to ensure that the laser irradiates each part of the detection scene; a single photon detector array for receiving echo photons reflected by a detection scene; the time-dependent photon counter is used for counting the distribution condition of the echo photons of the detection scene and generating a time-dependent photon counting histogram; and the digital processing module is used for controlling the circuit to synchronize and analyzing and processing the echo photon distribution condition counted by the time-dependent photon counter by an algorithm. From this, can solve current on-vehicle lidar and receive weather influence great, only can search for target in the small range, and the problem that the cost is expensive, carry out three-dimensional reconstruction to surveying the scene through calculating holographically based on photon count, can be under the condition that need not scanning and shine, select the scene under the different ranges of different distances in a flexible way and carry out holographic three-dimensional reconstruction, when guaranteeing that depth information measurement accuracy is higher, can survey fast and provide the holographic three-dimensional image that compares a cloud visual perception effect is more excellent to the target under the big scene, the limitation of current on-vehicle lidar has been remedied effectively.
In the description herein, reference to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present application, "plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing steps of a custom logic function or process, and alternate implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. If implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried by the method for implementing the above embodiments may be implemented by hardware related to instructions of a program, which may be stored in a computer readable storage medium, and when the program is executed, the program includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.
Claims (10)
1. A three-dimensional imaging method of a computer-generated holographic radar based on photon counting is characterized by comprising the following steps:
collecting echo photons of a detection scene, and carrying out statistics according to the distribution condition of the collected echo photons to obtain a time-dependent photon counting histogram of each single photon detector unit;
selecting a detection distance, and calculating the flight time of photons;
finding out the corresponding photon number in each time-dependent photon counting histogram at the photon flight time according to the calculated photon flight time;
sequentially calculating the complex amplitude distribution of the target detected by each single-photon detector unit on the holographic surface;
superposing the complex amplitude distribution corresponding to each single-photon detector unit to obtain the total complex amplitude distribution of the detection scene on the holographic surface;
constructing reference light;
adding the total complex amplitude distribution and the reference light to obtain a total complex amplitude on a holographic surface;
and calculating the total complex amplitude on the holographic surface by using a hologram reconstruction algorithm to obtain a final holographic image.
2. The method for computed holographic radar three-dimensional imaging based on photon counting according to claim 1, wherein the formula for the photon time of flight is:
wherein c is the speed of light and d is the detection distance.
3. The method for photon counting-based three-dimensional imaging of computed holographic radar according to claim 1, wherein the complex amplitude distribution of the target detected by the single-photon detector unit on the holographic surface is calculated by the formula:
wherein i is the ith single photon detector unit,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength and d is the detection distance.
4. The method for photon-counting-based computed holographic radar three-dimensional imaging according to claim 1, wherein the overall complex amplitude distribution of the detection scene on the holographic surface is computed by the formula:
wherein the content of the first and second substances,
for the complex amplitude distribution corresponding to the ith single photon detector cell,
to calculate the corresponding number of photons at the resulting photon flight time,
is the laser wavelength and d is the detection distance.
5. The method of photon-counting-based computed holographic radar three-dimensional imaging according to claim 1, wherein the reference light formula is:
wherein r is the amplitude of the reference light,
as a reference light transmission distance, there is a distance,
is the laser wavelength.
6. The method for photon-counting-based computed holographic radar three-dimensional imaging according to claim 1, wherein the total complex amplitude on the holographic surface is calculated by the formula:
wherein the content of the first and second substances,
is the total complex amplitude distribution of the detection scene on the holographic surface, R is the reference light,
to calculate the corresponding number of photons at the resulting photon flight time,
as the wavelength of the laserD is the detection distance, r is the reference light amplitude,
is the reference light transmission distance.
7. The method of photon-counting-based computed holographic radar three-dimensional imaging according to claim 1, wherein said hologram reconstruction algorithm comprises fresnel transform method, convolution method and angular spectrum method.
8. A three-dimensional imaging device of a computer-generated holographic radar based on photon counting is characterized by comprising:
the laser emitter is used for emitting laser to irradiate the detection scene;
the beam expander is used for expanding the laser emitted by the laser to ensure that the laser irradiates each part of the detection scene;
a single photon detector array for receiving echo photons reflected by a detection scene;
the time-dependent photon counter is used for counting the distribution condition of the echo photons of the detection scene and generating a time-dependent photon counting histogram;
and the digital processing module is used for controlling the circuit to synchronize and analyzing and processing the echo photon distribution condition counted by the time-dependent photon counter by an algorithm.
9. The photon counting-based three-dimensional imaging apparatus for computed holographic radar according to claim 8, wherein said laser emitter is a pulsed laser, said array of single photon detectors is connected to said time-dependent photon counter, and said digital processing module comprises a synchronization circuit and a computer.
10. The photon-counting-based computed holographic radar three-dimensional imaging apparatus of claim 8, wherein the control circuitry is synchronized to specifically:
and a synchronization circuit is respectively connected with the laser and the time-dependent photon counter, so that the time-dependent photon counter synchronously starts to time when the laser transmitter emits laser.
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| CN111562593A (en) * | 2020-04-23 | 2020-08-21 | 中国科学院西安光学精密机械研究所 | Area array push-broom type photon counting three-dimensional imaging system based on pixel multiplexing |
| CN111524084A (en) * | 2020-05-13 | 2020-08-11 | 曹彬才 | Complex scene photon counting laser radar point cloud denoising algorithm based on multimodal Gaussian fitting |
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| CN115097484A (en) * | 2022-06-23 | 2022-09-23 | 哈尔滨工业大学 | double-Gamma estimation-based single photon laser radar fog-penetration imaging method |
| CN115616608A (en) * | 2022-12-19 | 2023-01-17 | 中国科学院西安光学精密机械研究所 | Single-photon three-dimensional imaging distance super-resolution method and system |
| CN115616608B (en) * | 2022-12-19 | 2023-08-11 | 中国科学院西安光学精密机械研究所 | Single photon three-dimensional imaging distance super-resolution method and system |
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