System and method for lidar defogging
A system and method for LiDAR defogging is disclosed. The method comprises: applying a detection device to determine the fog status and generate a histogram; determining the fog concentration between a target location and the detection device in the histogram according to the histogram; and applying a defogging method to defog the fog concentration between the target location and the detecting device.
1. A LiDAR defogging system, comprising:
a transmitter configured to emit a detection signal toward a field of view of the LiDAR defogging system;
a detector configured to receive an echo signal reflected from an object in the field of view of the LiDAR defogging system; and
an instrument configured to:
generate a first histogram based on the detection signal and the echo signal, wherein the x-axis of the first histogram represents as at least one time slot between the time for emitting the detection signal and the time for receiving the echo signal, and the y-axis of the first histogram represents as energy information of the echo signal;
determine a concentration of fog between the detector and the object by comparing the first histogram and a second histogram generated by collecting blank channel information, wherein the blank channel information is derived by signal reflected from the fog; and
remove an interference of the fog from the echo signal according to the concentration of the fog.
2. The LiDAR defogging system according to claim 1 , wherein the transmitter is further configured to emit the detection signal in a form of laser pulsed light wave.
3. The LiDAR defogging system according to claim 1 , wherein the instrument is further configured to:
estimate a distance between the object and the LiDAR defogging system.
4. A defogging method for a LiDAR defogging system, comprising:
emitting a detection signal toward a field of view of the LiDAR defogging system;
receiving an echo signal reflected from an object in the field of view of the LiDAR defogging system;
generating a first histogram based on the detection signal and the echo signal, wherein the x-axis of the first histogram represents as at least one time slot between the time for emitting the detection signal and the time for receiving the echo signal, and the y-axis of the first histogram represents as energy information of the echo signal;
determining a concentration of fog between the LiDAR defogging system and the object by comparing the first histogram and a second histogram generated by collecting blank channel information of the detector, wherein the blank channel information is derived by signal reflected from the fog; and
removing an interference of the fog from the echo signal according to the concentration of the fog.
5. The defogging method according to claim 4 , wherein the detection signal is emitted in a form of laser pulsed light wave.
6. The LiDAR defogging method according to claim 4 , further comprising:
estimating a distance between the object and the LiDAR defogging system.