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Proceedings Paper

Automatic registration and visualization of occluded targets using ladar data
Author(s): Stephen Hsu; Supun Samarasekera; Rakesh Kumar
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Paper 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.

Paper Details

Date Published: 21 August 2003
PDF: 12 pages
Proc. SPIE 5086, Laser Radar Technology and Applications VIII, (21 August 2003); doi: 10.1117/12.501576
Show Author Affiliations
Stephen Hsu, Sarnoff Corp. (United States)
Supun Samarasekera, Sarnoff Corp. (United States)
Rakesh Kumar, Sarnoff Corp. (United States)


Published in SPIE Proceedings Vol. 5086:
Laser Radar Technology and Applications VIII
Gary W. Kamerman, Editor(s)

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