A new extraction and grading method for underwater topographic photons of photon-counting LiDAR with different observation conditions

Spaceborne photon-counting light detection and ranging (LiDAR) have been extensively applied in shallow-water bathymetry. The density of underwater topographic photons (UTP) varies and is discontinuous due to sunlight noise, beam intensity, and seabed reflectivity, which differ from the land photon distribution due to the attenuation of water. Therefore, a general method for extracting and grading UTP is still lacking. We propose an active contour method combined with a variable convolution kernel method to calculate the photon range by considering the energy contributions of adjacent photons. Adaptive parameters under different observation conditions were determined to obtain the optimal convolution kernel using a kernel ridge regression model. This implies that the number of photons contained in the buffer zone was largest after the extracted UTP was fitted to a curve. Quantitative and qualitative verifications proved that the method performed well under different conditions. The photons obtained by the energy functional and the curve obtained by the fitting method were then used to grade the photons. Finally, an online developed UTP dataset and extraction framework were proposed to provide an applicable method for current and subsequent spaceborne photon-counting LiDAR.