The range image processing in real-time based on digital signal processor

摘要

Laser radar is a distance measurement system, which makes laser range scanning and receives echo signal in order to get range images. Digital signal processors (DSPs) are based on an advanced modified Harvard architecture and a pipeline operation. TI DSPs have characteristics made them the ideal choice for a wide range of processing applications and architectures designed specifically for real-time signal processing. In this paper, range image segmentation method based on the basis operation of mathematical morphology and an estimation algorithm based on adaptive surface fitting and robust M-estimation is proposed. The segmentation method and estimation algorithm was applied successfully to many real range images; the processing speed and noise immunity is better than traditional methods.