量子电子学报2025，Vol.42Issue(6)：759-769,11.DOI:10.3969/j.issn.1007-5461.2025.06.003
基于改进RANSAC的单光子激光雷达目标轨迹提取算法研究
Research on target trajectory extraction algorithm for single-photon lidar based on improved RANSAC
摘要
Abstract
With the widespread application of low-slow-small(LSS)targets such as drones in many low-altitude airspace,LSS targets have gradually become a significant threat to low-altitude security.In response to the requirements for real-time and accurate target identification in the low-altitude airspace,a trajectory extraction algorithm for LSS targets based on single-photon lidar is proposed in this work.Single-photon lidar,with its photon-level detection sensitivity,has been widely used in fields such as target ranging.This algorithm utilizes the target distance information measured by lidar to transform the trajectory extraction problem into a line fitting problem based on the random sample consensus(RANSAC)algorithm,and then adaptively optimizes the RANSAC algorithm to extract target trajectories from a large number of echo point clouds.Experimental results show that when the target's movement speed varies between 45 m·s-1 and 75 m·s-1,and the background noise intensity varies between 500 counts·s-1 and 3500 counts·s-1,the algorithm demonstrates good adaptability,with errors always being controlled within 7 m and runtime within 75 ms.This method provides a feasible technical solution for real-time and accurate extraction of LSS target trajectories based on single-photon lidar.关键词
激光技术/单光子激光雷达/低慢小目标/RANSAC算法/轨迹提取Key words
laser techniques/single-photon lidar/low-slow-small target/RANSAC algorithm/trajectory extraction分类
电子信息工程引用本文复制引用
盛明圳,白同正,郑小兵,翟文超,夏茂鹏..基于改进RANSAC的单光子激光雷达目标轨迹提取算法研究[J].量子电子学报,2025,42(6):759-769,11.基金项目
江淮前沿技术协同创新中心追梦基金(2023-ZM01K002) （2023-ZM01K002）
