Three-dimensional data derived from sensors utilizing a single point of view exhibit a high degree of nonlinearity. This nonlinearity, in the form of interrelated range, or radiometric, and geometric distortions, is corrected in real time without imposing any severe restrictions on the type of distortion laws to which the particular sensor adheres. This general correction technique is experimentally verified and shown to produce accurate 3-D images for a very broad class of distortion. A simple hardware implementation is also proposed.
"Real-Time Correction Of Three-Dimensional Nonlinearities For A Laser Rangefinder," Optical Engineering 25(4), 254561 (1 April 1986). https://doi.org/10.1117/12.7973860