Abstract
Aiming at the problems of low-resolution lidar range image edge detection accuracy, poor anti-noise performance, and the need to set the threshold manually. An edge detection algorithm with improved Sobel operator is proposed. The improved algorithm increases the accuracy of range image edge location by adding a gradient template and uses a median filter to calculate the local edge threshold. Therefore, it can realize adaptive threshold calculation and enhance the anti-noise performance. Then FPGA hardware acceleration is used to achieve real-time edge detection of the algorithm. In addition, the lidar range image acquisition system is designed and the algorithm is verified through experiments to meet the requirements of real-time edge detection.It is better to extract the complete edge information of the range image, which has certain engineering application value.
| Translated title of the contribution | Real-time edge detection of Lidar range image |
|---|---|
| Original language | Chinese (Traditional) |
| Pages (from-to) | 404-409 |
| Number of pages | 6 |
| Journal | Guangxue Jishu/Optical Technique |
| Volume | 47 |
| Issue number | 4 |
| Publication status | Published - Jul 2021 |