Comparison of De-Noising Methods of LiDAR Signal

Hongbo Ding; Zhenzhu Wang; Dong Liu

doi:10.3788/AOS202141.2401001

Acta Optica Sinica, Volume. 41, Issue 24, 2401001(2021)

Comparison of De-Noising Methods of LiDAR Signal

Hongbo Ding^1,2, Zhenzhu Wang^1,3、*, and Dong Liu^1,3

¹Key Laboratory of Atmospheric Optics, Anhui Institute of Optics and Fine Mechanics, Hefei Institutes of Physical Science, Chinese Academy of Sciences, Hefei, Anhui 230031, China

²University of Science and Technology of China, Hefei, Anhui 230026, China

³Advanced Laser Technology Laboratory of Anhui Province, Hefei, Anhui 230037, China

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Figures & Tables(8)

Fig. 1. Simulation results of cumulative pulse signals with noise

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Fig. 2. Experimental results of de-noising of 10-pulse cumulative simulation signals. (a) Original signal; (b) WT; (c) EMD-PR; (d) EMD-DT; (e) EMD-IT; (f) EMD-WT; (g) WT-EMD; (h) VMD-PR; (i) VMD-WT; (j) WT-VMD

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Fig. 3. Experimental results of de-noising of 100-pulse cumulative simulation signals. (a) Original signal; (b) WT; (c) EMD-PR; (d) EMD-DT; (e) EMD-IT; (f) EMD-WT; (g) WT-EMD; (h) VMD-PR; (i) VMD-WT; (j) WT-VMD

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Fig. 4. Experimental results of de-noising of 1000-pulse cumulative simulation signals. (a) Original signal; (b) WT; (c) EMD-PR; (d) EMD-DT; (e) EMD-IT; (f) EMD-WT; (g) WT-EMD; (h) VMD-PR; (i) VMD-WT; (j) WT-VMD

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Table 1. Simulation parameters of LiDAR system

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Table 1. Simulation parameters of LiDAR system

System parameter	Value
Pulse energy /μJ	10
Receiver diameter/mm	200
Field of view /μrad	200
Total optical transmittance	0.1
Filter bandwidth /nm	0.3
Range resolution /m	30
Detection quantum efficiency	0.1
Dark counts per second	500

Table 2. Evaluation index of 10-pulse cumulative signal after denoising

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Table 2. Evaluation index of 10-pulse cumulative signal after denoising

Method	RMSE	SNR /dB	Smoothness
Original signal	0.5952	4.3427	229.0331
WT	0.3431	9.1280	76.0482
EMD-PR	0.2781	10.9523	0.4930
EMD-DT	0.2569	11.6395	6.5856
EMD-IT	0.2208	12.9550	2.2844
EMD-WT	0.2781	10.9530	0.4928
WT-EMD	0.2329	12.4928	2.0597
VMD-PR	0.1434	16.7026	0.4143
VMD-WT	0.1435	16.7010	0.4079
WT-VMD	0.1391	16.9703	0.4168

Table 3. Evaluation index of 100-pulse cumulative signal after denoising

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Table 3. Evaluation index of 100-pulse cumulative signal after denoising

Method	RMSE	SNR /dB	Smoothness
Original signal	2.2222	12.9004	23.1526
WT	1.6279	15.6037	11.1812
EMD-PR	1.2519	17.8847	0.4357
EMD-DT	1.2836	17.6673	1.5045
EMD-IT	1.1363	18.7260	0.6524
EMD-WT	1.2519	17.8848	0.4357
WT-EMD	1.2116	18.1689	1.5918
VMD-PR	1.2309	18.0314	0.4313
VMD-WT	1.2316	18.0266	0.4248
WT-VMD	1.0861	19.1189	0.4633

Table 4. Evaluation index of 1000-pulse cumulative signal after denoising

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Table 4. Evaluation index of 1000-pulse cumulative signal after denoising

Method	RMSE	SNR /dB	Smoothness
Original signal	6.2409	23.9313	2.9217
WT	4.1941	27.3835	1.6554
EMD-PR	4.3630	27.0404	0.9976
EMD-DT	3.8825	28.0538	0.8848
EMD-IT	3.7577	28.3377	0.8562
EMD-WT	4.1262	27.5251	0.9582
WT-EMD	3.4990	28.9572	0.8313
VMD-PR	3.6385	28.6177	0.7929
VMD-WT	3.5971	28.7171	0.7887
WT-VMD	3.2952	29.4786	0.7903