METHOD AND APPARATUS FOR AUTOMATIC REGISTRATION AND VISUALIZATION OF OCCLUDED TARGETS USING LADAR DATA

摘要

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.