无人机载激光雷达图像斑点噪声滤波方法

Speckle noise filtering method for UAV lidar images

为了保证激光雷达图像完整,抑制无人机载激光雷达图像斑点噪声,提高激光雷达图像质量,提出无人机载激光雷达图像斑点噪声滤波方法。利用自适应联合双边滤波算法修复激光雷达图像中存在的空洞,提高激光雷达图像的完整度,通过二次噪声检测方法检测激光雷达图像中存在的斑点噪声,构建冲击各向异性滤波模型,利用该模型完成无人机载激光雷达图像斑点噪声的滤波处理。实验结果表明,所提方法的均方根误差低于0.02,其熵在0.20以上,散斑指数最高可达9.9,所提方法具有良好的滤波效果和斑点噪声抑制能力。

In order to ensure the integrity of lidar image, suppress the speckle noise of UAV(unmanned aerial vehicle) lidar image and improve the image quality of lidar, a speckle noise filtering method of UAV lidar image is proposed. The adaptive joint bilateral filtering algorithm is used to repair the voids in the lidar image and improve the integrity of the lidar image. The speckle noise in the lidar image is detected by the secondary noise detection method,and the impact anisotropic filtering model is constructed. This model is used to filter the speckle noise of the UAVlidar image. The experimental results show that the root mean square error of the proposed method is less than 0. 02, its entropy is more than 0. 20, and the speckle index is up to 9. 9. The proposed method has good filtering effect and speckle noise suppression ability.