激光雷达数据处理，辨别有毒云，校正因为激光雷达数据扫描时造成的极坐标几何扭曲-In this particular application, scanning Lidar equipment is used to

detect cross sections of clouds or plumes.　The same scan geometry,

however, is used in medical ultrasound and other types of imaging.



The Lidar principle uses a laser beam to detect atmospheric reflection

intensity at various range resolved distances along the beam axis.　

Each such measurement is a line scan (intensity versus distance).



The beam is swept up and down using a mechanical linkage driven by a

motor at constant speed.　At equal time intervals, successive scan

lines are recorded.　Harmonic motion of the beam rocking linkage

results in approximately sinusoidal scan angles with time.



A set of successive scan lines forms an acquired image.　Images record

reflected intensity as a function of radial distance and sweep angle.

Hence, scan images are acquired in polar (curvelinear) space with

nonuniform spacing.



In this case the goal of image processing is to analyze the size and

location of