Marine Lidar Intensity-Space Combined Filtering Method

Zhengyu Li; Hongdong Wang; Shengzhe Wei; Jiankun Lou

doi:10.3788/CJL221207

Chinese Journal of Lasers, Volume. 50, Issue 19, 1910001(2023)

Marine Lidar Intensity-Space Combined Filtering Method

Zhengyu Li¹, Hongdong Wang^1,2、*, Shengzhe Wei², and Jiankun Lou²

¹Key Laboratory of Marine Intelligent Equipment and System, Ministry of Education, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

²State Key Laboratory of Ocean Engineering, School of Naval Architecture, Ocean and Civil Engineering, Shanghai Jiao Tong University, Shanghai 200240, China

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Figures & Tables(16)

Fig. 1. Lidar signals of smooth water surface

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Fig. 2. Lidar signals of fluctuating water surface

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Fig. 3. Diagram of point clouds at sea

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Fig. 4. Flow chart of sea clutter filtering algorithm

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Fig. 5. Schematic of segmented intensity threshold filtering

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Fig. 6. Point cloud intensity distribution plot

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Fig. 7. Comparison of different correction weighting coefficients

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Fig. 8. Filtering results at different stages. (a) Original point cloud; (b) result after intensity threshold filtering; (c) final result

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Fig. 9. Multi-dynamic-target test scenario

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Fig. 10. Detection results by different filtering methods with obstacles. (a) Global intensity threshold filtering; (b) filtering method of this paper

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Fig. 11. Detection results by different filtering methods with fluctuating water surface. (a) Global intensity threshold filtering; (b) filtering method of this paper

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Table 1. Parameters of filtering
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Table 1. Parameters of filtering
Notation $d_{s}$ /m $d_{e}$ /m $d$ /m $n$ $u$
Value 10 70 15 30 0.5

Table 2. Initial intensity thresholds
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Table 2. Initial intensity thresholds
Notation $I_{1}$ $I_{2}$ $I_{3}$ $I_{4}$
Value 30 16 7 4

Table 3. Analysis on point cloud filtering results

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Table 3. Analysis on point cloud filtering results

Point cloud	$N_{t_{1}}$	$N_{t_{2}}$	$N_{c}$	$N_{t}$	$R_{c}$ /%
Original point cloud ［Fig. 8（a）］	5	1142	1478	2625	56.30
Point cloud after intensity filtering ［Fig. 8（b）］	4	894	16	914	1.75
Final point cloud ［Fig. 8（c）］	4	892	6	902	0.67

Table 4. Comparison between different filtering algorithms

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Table 4. Comparison between different filtering algorithms

Filtering method	$N_{F P}$	$N_{F N}$	$R_{F P}$ /%	$R_{F N}$ /%
Global intensity threshold filtering （80% filtering）	13	32	6.63	16.33
Global intensity threshold filtering （90% filtering）	8	39	4.08	19.90
Proposed filtering method	2	15	1.02	7.65

Table 5. Comparison of different stages of proposed filtering algorithm

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Table 5. Comparison of different stages of proposed filtering algorithm

Filtering stage	$N_{F P}$	$N_{F N}$	$R_{F P}$ /%	$R_{F N}$ /%
Segmented intensity threshold filtering	10	22	5.10	11.22
Segmented intensity threshold filtering combined with outlier filtering	6	22	3.06	11.22
Proposed filtering method	2	15	1.02	7.65

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Zhengyu Li, Hongdong Wang, Shengzhe Wei, Jiankun Lou. Marine Lidar Intensity-Space Combined Filtering Method[J]. Chinese Journal of Lasers, 2023, 50(19): 1910001

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