Method and apparatus for automatic registration and visualization of occluded targets using ladar data
First Claim
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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Abstract
A method and apparatus for high-resolution 3D imaging ladar system which can penetrate foliage and camouflage to sample fragments of concealed surfaces of interest is disclosed. Samples collected while the ladar moves can be integrated into a coherent object shape. In one embodiment, a system and method for automatic data-driven registration of ladar frames, comprises a coarse search stage, a pairwise fine registration stage using an iterated closest points algorithm, and a multi-view registration strategy. After alignment and aggregation, it is often difficult for human observers to find, assess and recognize objects from a point cloud display. Basic display manipulations, surface fitting techniques, and clutter suppression to enhance visual exploitation of 3D imaging ladar data may be utilized.
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Citations
20 Claims
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1. A method of registering ladar data, comprising:
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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. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. An apparatus for registering ladar data, comprising:
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means for receiving a plurality of ladar frames; and means for registering at least two of said plurality of ladar frames for determining a sensor pose with respect to a reference, said means for registering comprises means for performing a coarse search for determining a translation shift, wherein said means for performing said coarse search comprises means for constructing range images from point sets derived from said at least two ladar frames, means for estimating a 2D image shift from said at least two ladar frames, means for scaling said 2D image shift for generating said translation shift in cross-range directions, and means for estimating said translation shift in a down-range direction from said at least two ladar frames. - View Dependent Claims (19, 20)
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Specification