WO2005004052A3 - Method and apparatus for automatic registration and visualization of occluded targets using ladar data - Google Patents

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

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Publication number
WO2005004052A3
WO2005004052A3 PCT/US2004/012125 US2004012125W WO2005004052A3 WO 2005004052 A3 WO2005004052 A3 WO 2005004052A3 US 2004012125 W US2004012125 W US 2004012125W WO 2005004052 A3 WO2005004052 A3 WO 2005004052A3
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WO
WIPO (PCT)
Prior art keywords
ladar
registration
data
visualization
imaging
Prior art date
Application number
PCT/US2004/012125
Other languages
French (fr)
Other versions
WO2005004052A2 (en
Inventor
Stephen Hsu
Supun Samarasekera
Rakesh Kumar
Wen-Yi Zhao
Keith Hanna
Original Assignee
Sarnoff Corp
Stephen Hsu
Supun Samarasekera
Rakesh Kumar
Wen-Yi Zhao
Keith Hanna
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Sarnoff Corp, Stephen Hsu, Supun Samarasekera, Rakesh Kumar, Wen-Yi Zhao, Keith Hanna filed Critical Sarnoff Corp
Priority to EP04775895A priority Critical patent/EP1616298A2/en
Publication of WO2005004052A2 publication Critical patent/WO2005004052A2/en
Publication of WO2005004052A3 publication Critical patent/WO2005004052A3/en

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T5/00—Image enhancement or restoration
    • G06T5/20—Image enhancement or restoration by the use of local operators
    • G06T5/70—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/20—Image preprocessing
    • G06V10/255—Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2200/00—Indexing scheme for image data processing or generation, in general
    • G06T2200/04—Indexing scheme for image data processing or generation, in general involving 3D image data
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/20—Special algorithmic details
    • G06T2207/20016—Hierarchical, coarse-to-fine, multiscale or multiresolution image processing; Pyramid transform
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30212—Military
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30236—Traffic on road, railway or crossing

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 215, a pairwise fine registration stage 220 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 1200, surface fitting techniques, and clutter suppression 1220 to enhance visual exploitation of 3D imaging ladar data may be utilized.
PCT/US2004/012125 2003-04-18 2004-04-19 Method and apparatus for automatic registration and visualization of occluded targets using ladar data WO2005004052A2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
EP04775895A EP1616298A2 (en) 2003-04-18 2004-04-19 Method and apparatus for automatic registration and visualization of occluded targets using ladar data

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
US46376103P 2003-04-18 2003-04-18
US60/463,761 2003-04-18
US46455503P 2003-04-22 2003-04-22
US60/464,555 2003-04-22
US10/825,946 US7242460B2 (en) 2003-04-18 2004-04-16 Method and apparatus for automatic registration and visualization of occluded targets using ladar data
US10/825,946 2004-04-16

Publications (2)

Publication Number Publication Date
WO2005004052A2 WO2005004052A2 (en) 2005-01-13
WO2005004052A3 true WO2005004052A3 (en) 2006-11-30

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PCT/US2004/012125 WO2005004052A2 (en) 2003-04-18 2004-04-19 Method and apparatus for automatic registration and visualization of occluded targets using ladar data

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US (2) US7242460B2 (en)
EP (1) EP1616298A2 (en)
WO (1) WO2005004052A2 (en)

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WO2005004052A2 (en) 2005-01-13
EP1616298A2 (en) 2006-01-18
US7242460B2 (en) 2007-07-10
US20080181487A1 (en) 2008-07-31
US20050243323A1 (en) 2005-11-03

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