Automatic registration and visualization of occluded targets using ladar data

Stephen Hsu; Supun Samarasekera; Rakesh Kumar

doi:10.1117/12.501576

21 August 2003 Automatic registration and visualization of occluded targets using ladar data

Stephen Hsu, Supun Samarasekera, Rakesh Kumar

Proceedings Volume 5086, Laser Radar Technology and Applications VIII; (2003) https://doi.org/10.1117/12.501576
Event: AeroSense 2003, 2003, Orlando, Florida, United States

Abstract

High-resolution 3D imaging ladar systems can penetrate foliage and camouflage to sample fragments of concealed surfaces of interest. Samples collected while the ladar moves can be integrated into a coherent object shape, provided that sensor poses are known. We detail a system for automatic data-driven registration of ladar frames, consisting of a coarse search stage, a pairwise fine registration stage using an iterated closest points algorithm, and a multi-view registration strategy. We evaluate this approach using simulated and field-collected ladar imagery of foliage-occluded objects. Even after alignment and aggregation, it is often difficult for human observers to find, assess, and recognize objects from a point cloud display. We survey and demonstrate basic display manipulations, surface fitting techniques, and clutter suppression to enhance visual exploitation of 3D imaging ladar data.

Citation Download Citation

Stephen Hsu, Supun Samarasekera, and Rakesh Kumar "Automatic registration and visualization of occluded targets using ladar data", Proc. SPIE 5086, Laser Radar Technology and Applications VIII, (21 August 2003); https://doi.org/10.1117/12.501576

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