Shuaitai Zhang, Guoyuan Li, Xiaoqing Zhou, Jiaqi Yao, Jinquan Guo, Xinming Tang. Single photon point cloud denoising algorithm based on multi-features adaptive[J]. Infrared and Laser Engineering, 2022, 51(6): 20210949
- Infrared and Laser Engineering
- Vol. 51, Issue 6, 20210949 (2022)
Fig. 1. Flow chart of algorithm
Fig. 2. Number of signal pulses in different filter core shapes
Fig. 3. Slope adaptation in flat areas
Fig. 4. Slope adaptation in areas with large gradient
Fig. 5. Histogram of point cloud density
Fig. 6. Point cloud density histogram with different noise rates
Fig. 7. Data distribution in the study area
Fig. 8. Original point cloud of data A
Fig. 9. Original point cloud of data B
Fig. 10. Adaptive results of spatial density of data A
Fig. 11. Adaptive results of spatial density of data B
Fig. 12. Final denoising result of data A
Fig. 13. Final denoising result of data B
Fig. 14. Comparison between signal point cloud extracted in this paper and ATL03 signal in data A
Fig. 15. Comparison between signal point cloud extracted in this paper and ATL03 signal in data B
Fig. 16. Comparison between signal point cloud extracted in this paper and ATL08 signal in data A
Fig. 17. Comparison between signal point cloud extracted in this paper and ATL08 signal in data B
Fig. 18. Partial visual analysis of data A
Fig. 19. Partial visual analysis of data B
Fig. 20. Results of data A based on circular filter kernel
Fig. 21. Result of data A based on elliptic filter kernel
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Table 1. Comparison between ATL03 results and noise rate results proposed in the paper
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Table 2. Comparison between ATL08 results and the results in this paper
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