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

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, a pairwise fine registration stage 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, surface fitting techniques, and clutter suppression to enhance visual exploitation of 3D imaging ladar data may be utilized.

1 - 18 . (canceled) 
   
   
       19 . A method of recognizing a target object, comprising:
 registering ladar data having said target object; and   producing a visual representation of said registered ladar data where recognition of said target object is enhanced.   
   
   
       20 . The method of  claim 19 , wherein said producing step comprises:
 removing clutter from the visual representation.   
   
   
       21 . The method of  claim 19 , wherein said producing step comprises:
 adding depth cues in point cloud displays by modulating point markers.   
   
   
       22 . The method of  claim 21 , wherein point markers are modulated by changing brightness or color as a function of height above ground, distance to a sensor, or distance to a viewer. 
   
   
       23 . The method of  claim 19 , wherein said producing step comprises interactive cropping. 
   
   
       24 . The method of  claim 19 , wherein said producing step comprises reducing a data set by aggregating fewer frames to perceive a densely sampled surface. 
   
   
       25 . The method of  claim 19 , wherein said producing step comprises using spatial thinning to perceive a densely sampled surface. 
   
   
       26 . The method of  claim 19 , wherein said producing step comprises using surface rendering in order to extract a structure from a group of sample points. 
   
   
       27 - 32 . (canceled) 
   
   
       33 . An apparatus for recognizing a target object, comprising:
 means for registering ladar data having said target object; and   means for producing a visual representation of said registered ladar data where recognition of said target object is enhanced.