Fractional-Order Total Variation Geiger-Mode Avalanche Photodiode Lidar Range-Image Denoising Algorithm Based on Spatial Kernel Function and Range Kernel Function

A Geiger-mode avalanche photodiode (GM-APD) laser radar range image has much noise when the signal-to-background ratios (SBRs) are low, making it difficult to recover real target scene. In this paper, based on GM-APD lidar denoising model of fractional-order total variation (FOTV), spatial relationship and similarity between pixels obtained by using a kernel function optimize fractional differential operator, new FOTV range-image algorithm is designed. The lost information anomalous suppressed while details contour preserved. Monte Carlo simulation experimental results show that, under same SBRs statistical frame number, proposed improves restoration degree at least 5.11% peak signal-to-noise ratio (PSNR) 24.6%. approach can accomplish images low.