Automated in-track and cross-track airborne flash ladar image registration for wide-area mapping

Wong, C.; Logan, J.; Bracikowski, Christopher; Baldauf, Brian

doi:10.1117/12.849479

Cited by 2 publications

(8 citation statements)

References 4 publications

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“…Using this gating method to determine what lies beneath a canopy for many flyby operations may not be practical for such a system for it has a slow frame rate on the order of tens of Hertz. In addition, our experience shows that the low gain of the APD on our single-pulse sampling camera restricts our airborne operations to below 10,000 ft using a Big Sky laser with output pulse energy of 50 mJ at a wavelength of 1574 nm and pulsewidth of 6.7 ns [7]. Figure 1.…”

Section: Types Of 3d Flash Ladar Camerasmentioning

confidence: 98%

“…The results reported here are built upon our previous work in automating in-track and cross-track airborne flash ladar images using inertial and navigation metadata as initial estimate of the location and orientation of each frame of data and using the iterative closest point (ICP) algorithm for fine registration [7]. The ICP algorithm was first introduced by Besl et al [12] and Chen et al [13] and has been widely used to align 3D models whether the models are represented by point clouds, line segment sets, implicit curves, parametric curves, or triangle sets.…”

Section: Previous Work On Real-time Data Processingmentioning

confidence: 98%

“…Maps of these pixels were hard-coded into the processing software and their signals were ignored during data processing. As pointed out in reference [7], scattered light from structures near the ladar sensor manifests itself as a swarm of points that usually gathered at an edge of the focal plane array. Better isolation between the receiver and transmitter paths will minimize this deleterious effect.…”

Section: Data Filter For Single-pulse Sampling Cameramentioning

confidence: 98%

“…We have gathered 3D images of urban areas such as Redondo Beach, CA; tree-covered areas such as the Jasper Ridge Biological Preserve; and bare earth areas such as Tejon Ranch, CA using a single-pulse sampling flash ladar camera with an array size of 128×128 [7]. Most of the data that are presented here were collected over a series of flight campaigns conducted in 2008.…”

Section: Data Filter For Single-pulse Sampling Cameramentioning

confidence: 99%

“…This will be reported in future work. Geometric corrections of a 3D point cloud data set are detailed in our previous work found in reference [7]. In addition to the time-of-flight range measurement and the angle-angle values derived from the optical parameters, the following inertial and navigation metadata of the sensor are required during data processing to accurately place each 3D point in the geographic coordinate system: pitch, roll, heading, latitude, longitude, and altitude above the mean-sea-level.…”

Section: Gpu Data Processing Kernels For Point Cloud Data Correction mentioning

confidence: 99%

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Real-time 3D flash ladar imaging through GPU data processing

et al. 2011

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We present real-time 3D image processing of flash ladar data using our recently developed GPU parallel processing kernels. Our laboratory and airborne experiences with flash ladar focal planes have shown that per laser flash, typically only a small fraction of the pixels on the focal plane array actually produces a meaningful range signal. Therefore, to optimize overall data processing speed, the large quantity of uninformative data are filtered out and removed from the data stream prior to the mathematically intensive point cloud transformation processing. This front-end pre-processing, which largely consists of control flow instructions, is specific to the particular type of flash ladar focal plane array being used and is performed by the computer's CPU. The valid signals along with their corresponding inertial and navigation metadata are then transferred to a GPU device to perform range-correction, geo-location, and ortho-rectification on each 3D data point so that data from multiple frames can be properly tiled together either to create a wide-area map or to reconstruct an object from multiple look angles. GPU parallel processing kernels were developed using OpenCL. Postprocessing to perform fine registration between data frames via complex iterative steps also benefits greatly from this type of high-performance computing. The performance improvements obtained using GPU processing to create corrected 3D images and for frame-to-frame fine-registration are presented.

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Section: Types Of 3d Flash Ladar Camerasmentioning

confidence: 98%

Section: Previous Work On Real-time Data Processingmentioning

confidence: 98%

Section: Data Filter For Single-pulse Sampling Cameramentioning

confidence: 98%

Section: Data Filter For Single-pulse Sampling Cameramentioning

confidence: 99%

Section: Gpu Data Processing Kernels For Point Cloud Data Correction mentioning

confidence: 99%

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Real-time 3D flash ladar imaging through GPU data processing

et al. 2011

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Laser radar: historical prospective—from the East to the West

Molebny¹,

et al. 2016

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This article discusses the history of laser radar development in America, Europe, and Asia. Direct detection laser radar is discussed for range finding, designation, and topographic mapping of Earth and of extraterrestrial objects. Coherent laser radar is discussed for environmental applications, such as wind sensing and for synthetic aperture laser radar development. Gated imaging is discussed through scattering layers for military, medical, and security applications. Laser microradars have found applications in intravascular studies and in ophthalmology for vision correction. Ghost laser radar has emerged as a new technology in theoretical and simulation applications. Laser radar is now emerging as an important technology for applications such as self-driving cars and unmanned aerial vehicles. It is also used by police to measure speed, and in gaming, such as the Microsoft Kinect.

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Automated in-track and cross-track airborne flash ladar image registration for wide-area mapping

Cited by 2 publications

References 4 publications

Real-time 3D flash ladar imaging through GPU data processing

Real-time 3D flash ladar imaging through GPU data processing

Laser radar: historical prospective—from the East to the West

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