Research progress of APD three-dimensional imaging lidar

Filter name	Principle	Features
Pass-through filtering	For point cloud data with certain spatial characteristics in the spatial distribution, determine the range of the point cloud in the x, y, and z axis directions, and then filter the threshold to remove the different range points	The speed is fast, but the filtering is not accurate enough, which is often a rough process in the filtering process
Voxel filtering	A voxel is a small space in three dimensions. Create a voxel grid on the input point cloud data, and then in each voxel, all existing points will be approximated by their centroids	The number of point clouds is reduced without destroying the geometry of the point cloud itself
Statistical filtering	Perform noise filtering based on point cloud density. By calculating the average distance from each point to its nearest neighbor, the Gaussian distribution of all points in the point cloud is obtained, and then a distance threshold can be determined according to the mean and variance to filter outliers.	The filtering effect is better than straight-through filtering, which can accurately filter out sparse outliers
Bilateral filtering	Given a threshold, calculate the number of point clouds under each radius. When the number is greater than the given threshold, keep it, otherwise filter out	Can filter out internal noise more quickly than statistical filtering

Table 2.
Comparison of MEMS and OPA imaging laser radar
MEMS与OPA成像激光雷达对比

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Table 2.
Comparison of MEMS and OPA imaging laser radar
MEMS与OPA成像激光雷达对比

	MEMS	Phased array
Core principle	Micromechanical scanning	Transmitter unit array + phase control
Advantage	Small size, light weight, large swing, small inertia	Small size, light weight, no inertia, large swing (depending on unit spacing)
Disadvantages	Small target surface and low damage threshold	Damage threshold is high, can form high power
Craft difficulty	Relatively easy	Difficult (unit spacing is less than half of the optical wavelength)
Cost	Lower	Reduce costs after batching
Current research situation	Relatively mature	Immature

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Jie Cao, Qun Hao, Fanghua Zhang, Chenyu Xu, Yang Cheng, Jiali Zhang, Yu Tao, Dong Zhou, Kaiyu Zhang. Research progress of APD three-dimensional imaging lidar[J]. Infrared and Laser Engineering, 2020, 49(9): 20190549

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