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激光雷达探测及三维成像研究进展

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刘博, 于洋, 姜朔. 激光雷达探测及三维成像研究进展[J]. 光电工程, 2019, 46(7): 190167. doi: 10.12086/oee.2019.190167
引用本文: 刘博, 于洋, 姜朔. 激光雷达探测及三维成像研究进展[J]. 光电工程, 2019, 46(7): 190167. doi: 10.12086/oee.2019.190167
shu
Liu Bo, Yu Yang, Jiang Shuo. Review of advances in LiDAR detection and 3D imaging[J]. Opto-Electronic Engineering, 2019, 46(7): 190167. doi: 10.12086/oee.2019.190167
Citation: Liu Bo, Yu Yang, Jiang Shuo. Review of advances in LiDAR detection and 3D imaging[J]. Opto-Electronic Engineering, 2019, 46(7): 190167. doi: 10.12086/oee.2019.190167
shu

激光雷达探测及三维成像研究进展

    • 中国科学院光电技术研究所，四川 成都 610209

  • 基金项目:
    中国科学院“百人计划”项目支持
详细信息
    作者简介:
  • 刘博(1979-)，男，博士，研究员，主要从事激光雷达探测与通信的研究。E-mail：boliu@ioe.ac.cn

  • 中图分类号: O436.3;TN247

Review of advances in LiDAR detection and 3D imaging

    • Institute of Optics and Electronics, Chinese Academy of Sciences, Chengdu, Sichuan 610209, China

  • Fund Project: Supported by the Hundred Talents Program of Chinese Academy of Sciences
More Information

    摘要

  • 激光雷达是一种可以精确、快速获取目标三维空间信息的主动探测技术，在目标的识别、分类和高精度三维成像及测量方面有着独特的技术优势，应用范围和发展前景十分广阔。本文详细阐述了激光雷达探测以及三维成像系统的各种体制、探测原理等；总结和梳理了国内外单点扫描、线阵推扫以及面阵三维成像激光雷达系统的发展现状；同时对比分析了它们在星载、机载、车载等不同平台和应用领域的技术特点及优劣势等。近年来，三维成像激光雷达逐渐从单点扫描向小面阵扫描和线阵推扫式及面阵闪光成像发展，成像速度越来越快；同时单光子探测技术逐渐成熟，探测灵敏度越来越高。随着现代探测技术越来越趋向于多种传感器的融合探测发展，三维成像的发展也趋向于主、被动成像相结合，以获取更丰富的目标信息。

    LiDAR is a kind of active detection technology, which can acquire the three-dimensional spatial information of the target accurately and quickly. Due to its unique technical advantages in object recognition, classification, high-precision 3D imaging and measurement, the application scope and development prospect of LiDAR are quite broad. In this article, the principles of various LiDAR detection and 3D imaging systems are introduced, and the foreign and domestic development status of single point scanning, linear array sweeping and planar array 3D imaging LiDAR systems are summarized and sorted out. Meanwhile, their technical characteristics, advantages and disadvantages in different platforms and application fields such as spaceborne, airborne and vehicular platforms are compared and analyzed. Recently, 3D imaging LiDAR is gradually developed from single point scanning to small array scanning, line array sweep and array flash imaging. At the same time, the single photon detection technology is becoming mature and the detection sensitivity is getting higher and higher. With the development of modern detection technology more and more inclined to the fusion detection of various sensors, the development of 3D imaging is also inclined to the combination of active and passive imaging to obtain more abundant target information.

    • Overview

  • Overview: LiDAR is a kind of active detection technology, which can acquire the three-dimensional spatial information of the target accurately and quickly. As an active imaging system, three-dimensional imaging LiDAR has the advantages of obtaining high-precision distance dimension information and not being restricted by light conditions compared with passive imaging systems, and compared with the microwave radar imaging system, it has the advantages of high angular resolution, high measurement accuracy, strong anti-interference ability and easy miniaturization. Due to its unique technical advantages in object recognition, classification, high-precision 3D imaging and measurement, it is widely used in military, aerospace and civil 3D sensing and other fields. With the development of laser and detector, various range measurement techniques and 3D imaging LiDAR systems are flourishing, and the application scope and development prospect of LiDAR are quite broad. Recently, 3D imaging LiDAR systems are gradually developed from single point scanning to small array scanning, line array sweep and planar array flash imaging. At the same time, the single photon detection technology is becoming mature and the detection sensitivity of 3D imaging LiDAR is getting higher and higher. With the development of modern detection technology more and more inclined to the fusion detection of various sensors, the development of 3D imaging is also inclined to the combination of active and passive imaging to obtain more abundant target information.

    According to the imaging mechanism, the 3D imaging LiDAR systems can be divided into scanning imaging LiDAR system and planar array LiDAR imaging system. According to the laser distance measurement mechanism, it can be divided into direct pulse ranging, phase ranging and linear frequency modulation ranging. Different mechanisms of LiDAR 3D imaging system have different advantages and disadvantages. In this article, the principles of various LiDAR detection and 3D imaging systems are introduced, and the foreign and domestic development status of single point scanning, linear array sweeping and planar array 3D imaging LiDAR systems are summarized and sorted out. Meanwhile, their technical characteristics, advantages and disadvantages in different platforms and application fields such as spaceborne, airborne and vehicular platforms are compared and analyzed. In addition, it should also be recognized that 3D imaging LiDAR as a means of detection also has its shortcomings. For example, compared with passive camera imaging systems, its horizontal resolution is not high and it lacks target texture information, compared with the microwave radar, it is more susceptible to atmospheric conditions such as cloud, fog and haze. In the design and application of LiDAR systems, one should give full consideration to the actual need, try to avoid its weakness and take its advantages. It will be a good choice for combining LiDAR with visible/infrared passive imaging cameras and only taking the point of interest/controlling for fast and accurate ranging, which can make full use of their respective advantages. Hoping this article can provide some reference for readers to understand the development and design of modern 3D imaging LiDAR systems.

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  • 图 1  激光雷达探测示意图

    Figure 1.  LiDAR detection schematic diagram

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    图 2  幅值调制相位测距原理

    Figure 2.  Principle of AMCW LiDAR

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    图 3  (a) MDA Space Mission和Optech公司联合设计的星载激光雷达[27]；(b)中国科学院上海光学精密机械研究所提出的星载激光雷达系统[28]

    Figure 3.  (a) Space-borne LiDAR jointly designed by MDA Space Mission and Optech[27]; (b) Space-borne LiDAR system proposed by Shanghai Institute of Optics and Fine Mechanics, Chinese Academy of Sciences[28]

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    图 4  欧洲航天局设计的星载激光雷达系统[29]

    Figure 4.  Space-borne LiDAR system designed by ESA[29]

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    图 5  NASA对地观测激光雷达发展路线图[32]

    Figure 5.  NASA Earth observation LiDAR development roadmap[32]

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    图 6  Riegl公司VQ、LMS、VUX系列机载激光雷达[18]

    Figure 6.  Riegl's VQ, LMS and VUX airborne LiDARs[18]

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    图 7  Fibertek公司研制的直升机防撞的激光雷达系统主要模块示意图[21]

    Figure 7.  Schematic diagram of main modules of LiDAR system for helicopter anti-collision developed by Fibertek company[21]

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    图 8  (a) 约翰霍普金斯大学应用物理实验室设计的双轴万向节扫描装置；(b)步进凝视探测模式示意[17]

    Figure 8.  (a) A bi-axis universal joint scanning device designed by Johns Hopkins University Applied Physics Laboratory; (b) Stepping gaze detection mode indication[17]

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    图 9  MIT闪光式三维成像激光雷达对密林中隐蔽坦克进行探测[41-42]

    Figure 9.  Detection of hidden tanks in dense forest by MIT Flash 3D imaging LiDAR[41-42]

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    图 10  浙江大学面阵激光雷达三维成像[46-48]。(a)强度图；(b)距离图

    Figure 10.  3D imaging of array LiDAR in Zhejiang University[46-48]. (a) Strength image; (b) Distance image

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    图 11  哈尔滨工业大学面阵激光雷达三维成像[49-50]。(a)强度图；(b)距离图

    Figure 11.  3D imaging of array LiDAR in Harbin University of Technology[49-50]. (a) Strength image; (b) Distance image

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收稿日期:  2019-04-11
修回日期:  2019-06-17
刊出日期:  2019-07-01

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