Noise suppression arithmetic based on statistical property of ladar range image

Ladar range image is getting more and more attentions in the field of target recognition. The ladar range image will be severely disrupted when the ladar is working in a poor condition, it is necessary to remove the abnormal points that can not reflect true information. The distribution characteristics of the normal points are derived based on the distribution of the noises in the ladar range image, and a judging criterion of the abnormal points in ladar range image is obtained. The criterion can be expressed as a function of sampling distribution in small area, and its value can be estimated by the median method of robust statistics. Hence the anomalies can be removed and the ladar range image after noise suppression can be obtained. Both the simulation analysis and the actual ladar range image processing are carried out based on the proposed arithmetic and compared with the median filter arithmetic. The results show the noise suppression arithmetic based on the statistical property of ladar range image can not only remove noises very effectively, but also protect the details well. The algorithm makes full use of the high ranging accuracy of laser imaging radar, has the ability to deal with the requirement of different scenarios, and it is proved to be strongly practicable.