Optik
124 (2013) 3022–
3025
Contents
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at
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Optik
j
o
ur
nal
hom
epage:
www.elsevier.de/ijleo
Optimization
simulation
of
the
push-broom
of
three
dimensional
lidar
imaging
Guoyang
Xie,
Huajun
Yang
∗
,
Dachao
Gu,
Lei
Tong,
Ping
Jiang
Institute
of
Physical
Electronics,
University
of
Electronic
Science
and
Technology
of
China,
Chengdu
610054,
China
a
r
t
i
c
l
e
i
n
f
o
Article
history:
Received
2
May
2012
Accepted
11
September
2012
Keywords:
Three-dimensional
lidar
image
Pulse
ranging
method
Optimized
design
a
b
s
t
r
a
c
t
According
to
the
analysis
of
different
discontinuous
images
of
target,
the
precision
of
the
images
can
be
increased
for
lidar
imaging,
and
the
deviation
of
the
variation
of
the
vertical
and
horizontal
distance
between
targets
has
been
analyzed.
The
laser
divergence
angle
has
been
briefly
analyzed
under
the
laser
arrays
for
realistic
measurements
and
also
gave
the
image
restoration
of
target.
Crown Copyright
©
2012 Published by Elsevier GmbH. All rights reserved.
1.
Introduction
Since
laser
is
both
short
wavelength
and
monochrome
coherent
light,
it
presents
supreme
capacity
of
resisting
disturbance
[1].
The
most
important
factor
of
three-dimensional
lidar
imag-
ing
is
carrier
wave
[2],
which
demodulates
the
echo
signals
to
get
the
parameter
of
target
which
has
high
angular
resolution,
high
range
resolution
ratio,
speed
resolution,
wide
testing
range
and
high
anti-jamming
capacity
[3].
Three
dimensional
lidar
imag-
ing
has
been
attached
great
importance
to
military,
especially
the
pushing
broom
lidar
imaging,
which
depends
on
the
advantage
of
laser
ranging
and
gray
statistical
to
generate
three
dimensional
gray
images
[4].
It
denotes
highly
compact
structure
and
active
remote
sensing
information.
After
the
development
in
recent
years,
the
push-broom
of
three
dimensional
lidar
has
been
promisingly
applied
in
detecting
the
target
both
for
civil
use
and
for
military
use,
but
the
manufacture
engineering
is
premature.
Many
parts
of
them
are
still
in
laboratory
designing
station.
Therefore,
it
does
not
apply
in
the
realistic
measurements
[5].
With
the
development
of
computer
science
and
technology,
the
superiority
of
lidar
imaging
is
increasingly
highlighted.
Precise
measurement
and
real
time
imaging
are
ultimate
aims.
Meanwhile
it
is
important
to
deal
with
the
data
of
lidar
and
survey
three
dimen-
sional
visualization.
2.
Theoretical
analysis
for
lidar
imaging
2.1.
Theoretical
model
for
lidar
imaging
Fig.
1
shows
the
ray
illustration
of
the
existences
of
the
scat-
tering
angle
in
laser
irradiating,
the
light
beam
scatters
into
laser
∗
Corresponding
author.
E-mail
address:
yanghj@uestc.edu.cn
(H.
Yang).
array.
The
bulk
of
laser
spot
f
depends
not
only
on
the
height
of
lidar
H,
and
the
laser
scattering
angle
,
but
also
on
the
declination
angle
˛
and
the
scanning
angle
.
We
assume
that
the
ground
is
uneven
and
the
angle
between
the
ground
and
the
horizontal
plane
is
˛,
given
by
f
=
h
tan
+
2
−
˛
−
tan
−
2
+
˛
(1)
f
=
2H
tan
2
(2)
2
≈
tan
2
f
(3)
Based
on
the
data
of
measurement,
the
three
dimensional
models
can
be
rebuild.
Using
the
parameter
X
P
,
Y
P
,
P
n
,
¯
X,
¯
Y
and
,
where
X
P
and
Y
P
are
the
coordinates
for
the
center
of
gravity
projected
on
the
ground
for
the
spots
of
targets
P
n
,
and
is
the
principle
axis
of
targets.
And
¯
X
and
¯
Y
are
the
average
number
of
coordinates
for
the
center
of
gravity.
Use
the
invariant
matrix
to
make
sure
the
characteristic
of
reg-
ular
houses
[7]
¯
X
=
m
10
m
00
=
P
n
P=P
1
X
P
n
(4)
¯
Y
=
m
01
m
00
=
P
n
P=P
1
Y
P
n
(5)
=
1
2
arctan
2
¯
m
11
¯
m
20
−
¯
m
02
(6)
2.2.
Three-dimensional
transfer
theory
Assuming
S
(
1
,
2
)
is
the
incoherent
source
intensity,
V
(x,
y,
z)
is
the
scattering
potential
of
the
object,
P
(
1
,
2
)
is
the
pupil
0030-4026/$
–
see
front
matter.
Crown Copyright ©
2012 Published by Elsevier GmbH. All rights reserved.
http://dx.doi.org/10.1016/j.ijleo.2012.09.051