SYSTEM AND METHOD FOR OBJECT DETECTION
The disclosed LiDAR systems and methods are for object detection. The LiDAR system for object detection comprising: i) a receiver configured to receive a light signal reflected from an object; ii) a digital converter configured to convert the received light signal into a digital signal; iii) a pre-processor configured to pre-process the digital signal based on median filtering and to generate a pre-processed signal corresponding to the digital signal; and iv) a processor configured to analyze the pre-processed signal based on a threshold technique to detect a presence of the object.
1 . A LiDAR system for object detection comprising:
a receiver configured to receive a light signal reflected from an object;
a digital converter configured to convert the received light signal into a digital signal;
a pre-processor configured to pre-process the digital signal based on median filtering and to generate a pre-processed signal corresponding to the digital signal; and
a processor configured to analyze the pre-processed signal based on a threshold technique to detect a presence of the object.
2 . The LiDAR system of claim 1 , wherein the pre-processor comprises:
a median filter configured to perform median filtering of the digital signal and generate a filtered digital signal; and
a subtractor configured to subtract the filtered digital signal from the digital signal and generate the pre-processed signal.
3 . The LiDAR system of claim 2 , wherein the pre-processor is further configured to select a length of a moving window for the median filter in accordance with a pulse width of a transmitted light pulse.
4 . The LiDAR system of claim 3 , wherein the length of the moving window is longer than the pulse width of the transmitted light pulse.
5 . The LiDAR system of claim 1 , wherein the threshold technique is an analog threshold technique.
6 . The LiDAR system of claim 1 , wherein the threshold technique is constant false alarm rate (CFAR) threshold technique.
7 . The LiDAR system of claim 6 wherein the processor is further configured to analyze a cell-under-test (CUT) and M reference cells in accordance with the number of reference cells M and the multiplication factor K 0 to detect the presence of the object.
8 . A method for object detection comprising:
receiving, a light signal reflected from an object;
converting, the received light signal into a digital signal;
pre-processing, the digital signal based on median filtering and generating a pre-processed signal corresponding to the digital signal; and
analyzing, the pre-processed signal based on a threshold technique and detecting a presence of the object.
9 . The method of claim 8 , wherein the pre-processing comprises:
median filtering the digital signal and generating a filtered digital signal; and
subtracting the filtered digital signal from the digital signal and generating the pre-processed signal.
10 . The method of claim 9 , wherein the pre-processing further comprises selecting a length of a moving window for a median filter in accordance with a pulse width of a transmitted light pulse.
11 . The method of claim 10 , wherein the length of the moving window is longer than the pulse width of the transmitted light pulse.
12 . The method of claim 8 , wherein the threshold technique is an analog threshold technique.
13 . The method of claim 8 , wherein the threshold technique is constant false alarm rate (CFAR) threshold technique.
14 . The method of claim 13 wherein the processing further comprises analyzing a cell-under-test (CUT) and M reference cells in accordance with the number of reference cells M and the multiplication factor K 0 to detect the presence of the object.