Laser & Optoelectronics Progress, Volume. 58, Issue 14, 1428001(2021)
Adaptive Denoising Algorithm for Photon-Counting LiDAR Point Clouds
Figures & Tables(13)
Fig. 1. Airport building photos and point cloud data. (a) Airport building; (b) point cloud data
Fig. 6. Denoising result of the point cloud. (a) Noise and signal points after processing; (b) partial enlarged view
Fig. 8. Processing results of the MABEL point cloud data. (a) No.6; (b) No.8; (c) No.3; (d) No.9
Table 1. Fitting error of the airport building contour
View tableTable 1. Fitting error of the airport building contour
Serial number Number of signal points Standard deviation /m 1 90 0.21 2 104 0.23 3 632 0.13 4 70 0.15 5 81 0.27 6 107 0.24 7 99 0.18 8 86 0.16 9 75 0.22 Sum 1344 0.18
Table 2. Effect of θ on algorithm recognition rate and accuracy
View tableTable 2. Effect of θ on algorithm recognition rate and accuracy
θ/(°) h/m l/m μ σ FP FN TP R/% P/% 3 0.22 4.2 6.5 2.3 114 52 2929 98.26 96.25 5 0.28 3.2 6.5 2.3 152 18 2957 99.39 95.11 10 0.40 2.3 6.5 2.3 179 4 2981 99.87 94.34
Table 3. Effect of search area on algorithm recognition rate and accuracy
View tableTable 3. Effect of search area on algorithm recognition rate and accuracy
θ/(°) h/m l/m μ σ FP FN TP R/% P/% 5 0.28 3.2 6.5 2.3 152 18 2957 99.39 95.11 5 0.35 4.0 9.4 2.9 168 27 2944 99.09 94.60 5 0.42 4.8 13.0 3.5 307 41 2921 98.62 90.49
Table 4. MABEL point cloud data
View tableTable 4. MABEL point cloud data
Serial number Flight time Scenario Number of points 1 20120412T1644 northwest Greenland 25001 2 20120412T1659 central Greenland 50000 3 20120420T0954 sea ice around Greenland 40000 4 20120420T1004 edge of Greenland 50001 5 20120915T2300 water 15113 6 20130919T1512 vegetation, day 30108 7 20130920T2225 vegetation, night 33759 8 20130927T1856 land 56201 9 20140729T2106 north pole 40690
Table 5. Processing parameters and results of MABEL point cloud data
View tableTable 5. Processing parameters and results of MABEL point cloud data
Serial number θ/(°) h/m l/m μ σ FP FN TP R/% P/% 1 5 2.6 30.0 5.4 2.0 267 33 3948 99.17 93.67 2 5 2.6 30.0 6.6 2.3 174 4 1804 99.78 91.20 3 5 2.6 30.0 6.3 2.2 138 2 1316 99.85 90.51 4 5 2.6 30.0 6.6 2.3 132 3 1300 99.77 90.78 5 5 13.1 150.0 4.3 1.8 435 1 7426 99.99 94.47 6 5 3.9 45.0 4.7 1.9 60 221 5649 96.24 98.95 7 5 7.9 90.0 5.3 2.0 142 59 19148 99.69 99.26 8 5 3.1 35.0 5.6 2.2 352 230 3748 94.22 91.41 9 5 3.1 35.0 6.3 2.3 201 30 1842 98.40 90.16
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Chunhui Wang, Aoyou Wang, Wei Rong, Yuliang Tao, Ruimin Fu. Adaptive Denoising Algorithm for Photon-Counting LiDAR Point Clouds[J]. Laser & Optoelectronics Progress, 2021, 58(14): 1428001
Paper Information
Category: Remote Sensing and Sensors
Received: Sep. 27, 2020
Accepted: Nov. 12, 2020
Published Online: Jul. 14, 2021
The Author Email: Chunhui Wang (xjtuchwang@foxmail.com)
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