3D image generation with laser radar based on APD arrays

At present, APD (Avalanche Photo Diode) arrays laser imaging based-on Geiger-mode has been a main research of laser radar. For low-cost and small APD arrays, we propose a distance imaging method based on APD working at Linear-mode. For this reason, the prototype of GLiDAR-II has been developed. The test shows that the max imaging range is 20 meters and the precision is better than 5 cm. This paper first introduces the principle of the prototype, its hardware framework and the principle of 3D imaging program, then focuses on the data communication, data correcting and the analysis of the real-time imaging results. Finally, in order to check the 3D image details of historical data conveniently, a program has be written, which can set historical data range, data type, scanning direction and imaging color. The results of historical imaging will be analyzed and discussed in the end.