Range anomalies mechanism and suppression method of coherent laser radar range image

Noise mechanism of coherent laser radar range image is demonstrated in this paper. Shortcoming using traditional median filtering to suppress range anomalies is analyzed. Range anomalies suppression method of range image based on sorting-difference and self-adaptive median filtering is put forward. Firstly, sorting and difference is carried out for pixels within larger filtering window. Secondly, pixels corresponding to continuous difference values of maximum length below threshold are regarded as range normal values, other pixels are range anomalies noises. Finally, self-adaptive median filtering is carried out for range anomalies pixel. Experimental result shows: range anomalies noises are suppressed efficiently using this method, edge and detail of object in range image are well protected.