Waveform LiDAR signal denoising based on connected domains

The streak tube imaging light detection and ranging (LiDAR) is a new type of waveform sampling laser imaging radar whose echo signals are stripe images with a high frame rate. In this study, the morphological and statistical characteristics of stripe signals are analyzed in detail. Based on the concept of mathematical morphology denoising, connected domains are constructed in a noisecontaining stripe image, and the noise is removed using the difference in connected domains area between signals and noises. It is shown that, for stripe signals, the proposed denoising method is significantly more efficient than Wiener filtering.