High-quality image restoration is typically challenging due to low signal–to–background ratios (SBRs) and limited statistics frames. To address these challenges, this paper devised a method based on fractional-order total variation (FOTV) regularization for recovering Geiger-mode avalanche photodiode (GM-APD) light detection and ranging (lidar) depth images. First, the spatial differential peak-picking method was used to extract the target depth image from low SBR and limited frames. FOTV regularization was introduced based on the total variation regularization recovery model, which incorporates the fractional-order differential operator, in order to realize FOTV-regularization-based depth image recovery. These frameworks were used to establish an algorithm for GM-APD depth image recovery based on FOTV. The simulation and experimental results demonstrate that the devised FOTV-recovery algorithm improved the target reduction degree, peak signal–to–noise ratio, and structural similarity index measurement by 76.6%, 3.5%, and 6.9% more than the TV, respectively, in the same SBR and statistic frame conditions. Thus, the devised approach is able to effectively recover GM-APD lidar depth images in low SBR and limited statistic frame conditions.
Depth image enhancement techniques can help to improve image quality and facilitate computer vision tasks. Traditional image−enhancement methods, which are typically based on integer−order calculus, cannot exploit the textural information of an image, and their enhancement effect is limited. To solve this problem, fractional differentiation has been introduced as an innovative image−processing tool. It enables the flexible use of local and non−local information by taking into account the continuous changes between orders, thereby improving the enhancement effect. In this study, a fractional differential is applied in depth image enhancement and used to establish a novel algorithm, named the fractional differential–inverse−distance−weighted depth image enhancement method. Experiments are performed to verify the effectiveness and universality of the algorithm, revealing that it can effectively solve edge and hole interference and significantly enhance textural details. The effects of the order of fractional differentiation and number of iterations on the enhancement performance are examined, and the optimal parameters are obtained. The process data of depth image enhancement associated with the optimal number of iterations and fractional order are expected to facilitate depth image enhancement in actual scenarios.
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