Wall-Based Registration of Two Scanning Ladar Sensors

Abstract

This study evaluates the registration between a scanning ladar and a surveying ladar as a possible component in the registration of unmanned ground vehicle mobility sensors in the field. The structured scene used to generate registration data consists of the concave intersection of two walls and the flat pavement, effectively three orthogonal planes. The registration is formulated in terms of the parameters of the three planes. The extraction of the parameters from Cartesian point clouds produced by the ladars is described. The registration is generated and evaluated by qualitative techniques.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Aug 01, 2005
Accession Number
ADA437331

Entities

People

  • Gary A. Haas

Organizations

  • United States Army Research Laboratory

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Cameras
  • Coordinate Systems
  • Data Sets
  • Detection
  • Detectors
  • Ground Vehicles
  • High Resolution
  • Laser Sensors
  • Materials
  • Point Clouds
  • Scanning
  • Three Dimensional
  • Two Dimensional
  • Unmanned Ground Systems
  • Unmanned Ground Vehicles
  • Vehicles
  • Visualizations

Readers

  • Computer Vision.

Technology Areas

  • Autonomy