Depth Estimation of Single Photon Lidar in Complex Scenes

Yan Li; Miao Wu; Weiji He; Qian Chen

doi:10.3788/LOP222990

Laser & Optoelectronics Progress, Volume. 60, Issue 10, 1011004(2023)

Depth Estimation of Single Photon Lidar in Complex Scenes

Yan Li, Miao Wu, Weiji He^*, and Qian Chen

School of Electronic and Optical Engineering, Nanjing University of Science & Technology, Nanjing 210094, Jiangsu, China

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Equations(14)

s_{i, j, t} = r_{i, j} g_{0} (t - t_{i, j}) + b_{i, j}

。（1）

y_{i, j, t} ~ P (s_{i, j, t})

，（2）

K_{N_{L}} = \frac{G_{z} - G_{f}}{L_{N_{L}} N_{r} N_{c}}

，（3）

{\bar{y}}_{i, j, n} = \{\begin{array}{l} {\bar{y}}_{i, j}, \bar{y} (i, j) \geq K_{n} \\ \emptyset, \bar{y} (i, j) < K_{n} \end{array}

。（4）

M A S K (i, j) = \{\begin{array}{l} 0, (i, j) i s n u l l p i x e l \\ 1, (i, j) i s n o t n u l l p i x e l \end{array}

。（5）

F_{I P D} = \frac{1}{(i_{n e i g h b o r h o o d} {- i)}^{p} + (j_{n e i g h b o r h o o d} {- j)}^{p}}

，（6）

W_{m} = \frac{{F_{I P D}}_{m}}{\sum_{m = 1}^{M} {F_{I P D}}_{m}}

，（7）

W = - \sum_{l = 1}^{N_{L}} \sum_{t = T (l)}^{T (l) + \frac{M_{s} - M_{x}}{L_{b i n}}} {\tilde{y}}_{i, j, t} l o g [g (t - t_{i, j})]

，（8）

C (t) = W (t) + λ \int_{x} |H (x)| d x

，（9）

\underset{t, v, d}{a r g m i n} C (t, v, d) = \underset{t, v, d}{a r g m i n} \{- \sum_{l = 1}^{N_{L}} \sum_{t = T (l)}^{T (l) + \frac{M_{s} - M_{x}}{L_{b i n}}} {\tilde{y}}_{i, j, t} l o g [g (t - t_{i, j})] + λ \int_{x} |H (x)| d x + (ρ / 2) {‖t - v + d‖}_{2}^{2} - (ρ / 2) {‖d‖}_{2}^{2}\}

，（10）

\begin{array}{l} t^{k + 1} = \underset{t}{a r g m i n} \{- \sum_{l = 1}^{N_{L}} \sum_{t = T (l)}^{T (l) + \frac{M_{s} - M_{x}}{L_{b i n}}} {\tilde{y}}_{i, j, t} l o g [g (t - t_{i, j})] + \\ \begin{matrix}  \end{matrix} (ρ / 2) {‖t - v^{k} + d^{k}‖}_{2}^{2}\} \end{array}

，（11）

\begin{matrix} v^{k + 1} = \\ \underset{v}{a r g m i n} [λ \int_{x} |H (x)| d x + (ρ / 2) {‖t^{k + 1} - v + d^{k}‖}_{2}^{2}] \end{matrix}

，（12）

d^{k + 1} = d^{k} + t^{k + 1} - v^{k + 1}

，（13）

R_{R S N R} = 10 l g \frac{{‖d_{r e f}‖}^{2}}{{‖d_{r e f} - \hat{d}‖}^{2}}

，（14）

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Yan Li, Miao Wu, Weiji He, Qian Chen. Depth Estimation of Single Photon Lidar in Complex Scenes[J]. Laser & Optoelectronics Progress, 2023, 60(10): 1011004

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Paper Information

Category: Imaging Systems

Received: Nov. 8, 2022

Accepted: Dec. 12, 2022

Published Online: May. 17, 2023

The Author Email: He Weiji (hewj@mail.njust.edu.cn)

DOI:10.3788/LOP222990

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology