Range anomalies suppression method of coherent laser

In order to suppress range anomalies of coherent laser radar range image, noise mechanism of coherent laser radar range image is demonstrated in this paper, shortcomings of traditional median filtering used to suppress range anomalies are 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 5×5 filtering window. Then, pixels corresponding to continuous difference values of maximum length below threshold are regarded as range normal values. Finally, self-adaptive median filtering is carried out for range anomalies pixel. Experimental results show that, range anomalies noises are suppressed efficiently by using this method, the edge and detail of object in range image are protected well, root-mean-square-error is reduced by 41.7% and 25.4% in comparison with median filtering methods of 3×3 and 5×5 filtering window.