Infrared and Laser Engineering, Volume. 52, Issue 4, 20220506(2023)

Fast detection of moving targets in long range surveillance LiDAR

Jie Feng1,2, Yang Feng3, Xiang Liu1, Chenjin Deng2,4, and Zhongjun Yu1,2
Author Affiliations
  • 1Aerospace Information Research Institute, Chinese Academy of Sciences, Beijing 100194, China
  • 2University of Chinese Academy of Sciences, Beijing 100049, China
  • 3School of Software Engineering, South China University of Technology, Guangzhou 510006, China
  • 4Key Laboratory of Quantum Optics, Shanghai Institute of Optics and Fine Mechanics, Chinese Academy of Sciences, Shanghai 201800, China
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    Figures & Tables(12)
    Principle of clutter-map CFAR detection
    Processing flow diagram of rapid target detection for lidar point cloud data
    Scene of the experiment
    3D graphic of actual point cloud data
    3D graphic of mesh processing result
    Diagram of 3D filtering result
    Segmentation result of 3D SGM
    Segmentation result by 3D GMM
    Target detection result by clutter-map CFAR
    Projection of 3D processing results in azimuth plane
    • Table 1. Environment of time measurement and calculation

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      Table 1. Environment of time measurement and calculation

      PlatformParameters
      CPUIntel Core i7-6700
      OSWindows10
      Development platformVisual studio 2010
      LanguageC++
    • Table 2. Comparison of four target detection methods

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      Table 2. Comparison of four target detection methods

      MethodParametersFalse objectsFalse framesTime/ms
      2D SGMδ=3.0,λ=1.0 282605.14
      3D SGMδ=3.0,λ=7.66 201256.52
      3D GMMδ=3.0, λ=12.66, K=5 00902.45
      Clutter-map CFARβ=0.005, T=4.8 3358.67
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    Jie Feng, Yang Feng, Xiang Liu, Chenjin Deng, Zhongjun Yu. Fast detection of moving targets in long range surveillance LiDAR[J]. Infrared and Laser Engineering, 2023, 52(4): 20220506

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    Paper Information

    Category: Image processing

    Received: Jul. 21, 2022

    Accepted: --

    Published Online: Jul. 4, 2023

    The Author Email:

    DOI:10.3788/IRLA20220506

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