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Method and apparatus for automatic registration and visualization of occluded targets using ladar data

  • US 7,242,460 B2
  • Filed: 04/16/2004
  • Issued: 07/10/2007
  • Est. Priority Date: 04/18/2003
  • Status: Active Grant
First Claim
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1. A method of registering ladar data, comprising:

  • receiving a plurality of ladar frames; and

    registering at least two of said plurality of ladar frames for determining a sensor pose with respect to a reference, said registering step comprises performing a coarse search for determining a translation shift, wherein said performing said coarse search comprises constructing range images from point sets derived from said at least two ladar frames, estimating a 2D image shift from said at least two ladar frames, scaling said 2D image shift for generating said translation shift in cross-range directions and estimating said translation shift in a down-range direction from said at least two ladar frames.

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