Target intensity correction method based on incidence angle and distance for a pulsed Lidar system

Abstract

Pulsed light detecting and ranging (Lidar) is capable of acquiring comprehensive target information within a single pulse, including distance and intensity data. Intensity data reflects the target’s backscattered intensity and is commonly regarded as a crucial observational parameter associated with target reflectivity information. Multiple studies have indicated the potential of intensity data in various applications within pulsed Lidar contexts. However, the intensity data is influenced by the incident angle and distance; hence it cannot directly manifest target characteristics. Consequently, a prerequisite for its usage is the implementation of intensity calibration. This paper presents a target intensity correction method based on an improved tail model, designed for preprocessing intensity data. First, the pulse echo signal equation is derived by incorporating the improved tail model with the detected target. On this foundation, a target echo intensity correction model is established to correct the intensities at various incident angles to those at the normal direction. Lastly, the derived approach is validated through simulation analysis, and practical experiments are conducted on a constructed pulsed Lidar system. These experiments meticulously investigate the influences of incident angle and distance, two prominent factors, on echo intensity. In the context of incident angle correction experiments, the mean absolute errors (MAEs) in calibrated values for diverse targets all remain within 0.04 V. Prior to correction, the maximum MAE for the cystosepiment is 0.505 V; after the correction it is reduced to merely 0.02 V, indicating a 96% reduction in error. Furthermore, all discrepancies exhibit an error standard deviation (ESD) of 0.03 V or less, showcasing favorable stability. For distance correction, under normal incidence conditions, a diverse set of targets is measured at different distances to achieve corrected MAE and ESD within 0.05 V. Consequently, the proposed method effectively achieves intensity correction concerning incident angles and distances. To achieve this, a reflectivity lookup table for the relevant targets was established. Combining this with the corrected intensity information enabled target identification in the three-dimensional imaging of pulsed Lidar.