基于单像素单光子探测的目标识别与跟踪方法

Target Recognition and Tracking Method Based on Single Pixel Single Photon Detection

摘要:

为了实现弱回波信号下非合作目标识别跟踪,文章基于单像素光子计数激光雷达系统设计了目标识别跟踪策略,并且提出了一种目标识别跟踪方法。该方法首先将单像素光子计数激光雷达系统采集得到的三维点云经过插值处理得到直观的距离像,然后采用最大稳定极值区域算法分割目标和背景,根据目标轮廓特征识别并选择需要跟踪的目标。最后提取识别目标的质心,与激光雷达扫描中心的偏差作为误差信号,控制伺服系统在扫描的基础之上执行目标跟踪。实验结果表明,当激光发射能量为625pJ、回波光子数为25时,该系统能对距离为5m、角速度约为2mrad/s的目标进行稳定的识别跟踪；验证了基于单像素光子计数激光雷达的策略及方法能够稳定的分割目标和背景,以及正确提取需要识别跟踪测距的目标质心,为弱回波信号下目标识别跟踪测距提供一种有效直观的探测方法,同时,弱信号探测作为远距离探测的必要条件,为远距离下的目标探测及识别跟踪提供了一个新的技术方向。

Abstract:

In order to realize non-cooperative target recognition and tracking under weak echo signal, a target recognition and tracking strategy based on single pixel photon counting lidar system was designed, and a target recognition and tracking method was proposed. In this method, first, the 3D point cloud collected by the single-pixel photon counting lidar system was interpolated to obtain the intuitive range image. Then the maximum stable extreme value region algorithm was used to segment the target and background, and the target to be tracked was identified and selected according to the target contour features. Finally, the centroid of the identified target was extracted, and the deviation between the centroid and the scanning center of lidar was used as the error signal, and the servo system was controlled to perform target tracking on the basis of scanning. The experimental results show that when the laser emission energy is 625pJ and the number of echo photons is 25, the system can stably recognize and track the target with a distance of 5m and an angular velocity of about 2mrad/s. It is verified that the strategy and method based on single-pixel photon counting lidar can stably segment the target and background, and correctly extract the target centroid that needs to be recognized, tracked and ranged. It provides an effective and visual detection method for target recognition, tracking and ranging under weak echo signal. Meanwhile, weak signal detection is a necessary condition for long-distance detection. It provides a new technology direction for target detection and recognition tracking at long distance.