Laser radar guided filtering and denoising method based on gradient domain correction

The invention discloses a laser radar guided filtering denoising method based on gradient domain correction. The method comprises steps of inputting a target waveform G and a guided waveform I, judging whether there is sharp fluctuation or not, and adjusting a parameter alpha; calculating the covariance of the target waveform G and the guide waveform I, respectively calculating the covariance of the target waveform G and the guide waveform I, and multiplying pixel points by pixel points; dynamically adjusting the window width of the filter according to the normalized G and I waveform covariance; and averaging all linear coefficients containing pixel points p'in a set window width to obtain an average linear coefficient considering a sharp fluctuation judgment parameter alpha, correcting the window width based on a gradient domain to obtain an improved guided filtering function, filtering an input waveform, and outputting a filtered waveform. According to the method, the filtering kernel is changed according t