A Unified Framework for 3rd Generation LIDAR Pulse Processing Based on Finite Rate of Innovations

摘要

In this paper, we introduce a LIDAR return pulse analysis framework based on the concept of finite rate of innovations (FRI). Specifically, the proposed FRI-based model allows us to characterize the temporal return pulse envelopes captured by 3rd generation LIDAR systems in a low dimensional space. Furthermore, the extracted model parameters can often be mapped to specific physical features of the scene being captured, aiding in high-level interpretation. After describing the model formulation and extraction process, we illustrate its potential utility in two specific applications: sub-spot size ranging (super-resolution) and random impulsive scene scanning. In the course of this discussion, we also relate the FRI model to compressive sensing and sparse range-map reconstruction.