Denoising of the multi-slit streak tube imaging LiDAR system using a
faster non-local mean method

Wenhao Li; Shangwei Guo; Yu Zhai; Fei Liu; Zhengchao Lai; Shaokun Han

doi:10.1364/AO.438285

Applied Optics
Vol. 60,
Issue 34,
pp. 10520-10528
(2021)
•https://doi.org/10.1364/AO.438285

Denoising of the multi-slit streak tube imaging LiDAR system using a faster non-local mean method

Wenhao Li, Shangwei Guo, Yu Zhai, Fei Liu, Zhengchao Lai, and Shaokun Han

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Wenhao Li, Shangwei Guo, Yu Zhai, Fei Liu, Zhengchao Lai, and Shaokun Han, "Denoising of the multi-slit streak tube imaging LiDAR system using a faster non-local mean method," Appl. Opt. 60, 10520-10528 (2021)

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Abstract

Combined with the characteristic of the multi-slit streak tube imaging LiDAR (MS-STIL) system where the imaging areas corresponding to each slit do not interfere with each other, we denoised the streak images by an improved fast non-local mean filtering algorithm. Experiments were performed to investigate the effectiveness of the method. The experimental results show that the spatial resolution of the system is improved from 22 to 16 mm; the relative distance error is reduced by an average of 22.76%; and the intensity accuracy improved significantly when the distance is 10 m. Additionally, the overall denoising effect is comprehensively verified by long-range target imaging. The mean square error of the reconstructed depth image and intensity image are reduced from 0.0836, 0.0067 to 0.0433, 0.0037, respectively. The applicability of the proposed method was verified through comparative experiments in different environments.

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Data Availability

Data underlying the results presented in this paper are not publicly available at this time but may be obtained from the authors upon reasonable request.

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	Relative Number of Pixels		Relative Distance (cm)		Relative Error (%)
Real Distance (cm)	Original	After Denoising	Original	After Denoising	Original	After Denoising
40	2.063	2.047	41.26	40.94	3.15	2.35
80	4.115	4.106	82.30	82.12	3.38	2.65
120	6.211	6.167	124.22	123.34	3.52	2.78
160	8.298	8.226	165.96	164.52	3.73	2.82
200	10.383	10.301	207.66	200.60	3.83	3.01

Input Parameters	Value	Input Parameters	Value
Wavelength of laser	532 nm	Number of slit	16
Laser width	10 ns	Optical transmission	0.95
Laser power	0.2 J	Atmospheric attenuation	0.08
Range gate	25.6 m	Background intensity	$1000 {w / m}^{2}$
Laser divergence angle	0.012	Detector dark current	$10^{- 9} A$
Fiber diameter	105/125 µm	Angular dispersion of target	$π$
Temperature of streak tube	300 K	CCD pixels	$2600 \times 2080$
Focal length	0.6 m	Reconstructed image	$64 \times 64$

	MSE
Atmospheric Attenuation	0.08	0.21	0.64	0.89
Depth (original)	0.0836	0.1207	0.5715	2.7468
Depth (denoising)	0.0433	0.0977	0.3290	1.9661
Intensity (original)	0.0067	0.0156	0.1198	0.2010
Intensity (denoising)	0.0037	0.0119	0.0907	0.1472

	Relative Number of Pixels		Relative Distance (cm)		Relative Error (%)
Real Distance (cm)	Original	After Denoising	Original	After Denoising	Original	After Denoising
40	2.063	2.047	41.26	40.94	3.15	2.35
80	4.115	4.106	82.30	82.12	3.38	2.65
120	6.211	6.167	124.22	123.34	3.52	2.78
160	8.298	8.226	165.96	164.52	3.73	2.82
200	10.383	10.301	207.66	200.60	3.83	3.01

Input Parameters	Value	Input Parameters	Value
Wavelength of laser	532 nm	Number of slit	16
Laser width	10 ns	Optical transmission	0.95
Laser power	0.2 J	Atmospheric attenuation	0.08
Range gate	25.6 m	Background intensity	$1000 {w / m}^{2}$
Laser divergence angle	0.012	Detector dark current	$10^{- 9} A$
Fiber diameter	105/125 µm	Angular dispersion of target	$π$
Temperature of streak tube	300 K	CCD pixels	$2600 \times 2080$
Focal length	0.6 m	Reconstructed image	$64 \times 64$

Abstract

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Equations (11)

Applied Optics