Analysis and removal of artifacts in 3-D LADAR data

John Tuley, Nicolas Vandapel, and Martial Hebert
tech. report CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004


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Abstract
Mixed pixels are points in LADAR data which occur when the measurement beam intersects two objects at within a certain range of distances apart. The resulting return signal represents data from both objects; the laser electronics read this as a single point, but not at the real location of either object. As such, mixed pixels present an obstacle to accurate analysis of a scene. We present a survey of mixed pixel phenomena and a method of removing mixed pixels from scenes stored as 3-D points. Our method does not depend on the sensor used to originally collect the data, and is efficient and effective.

Keywords
mixed-pixels, laser, filtering

Notes
Sponsor: U.S Army Research Laboratory
Grant ID: DAAD19-01-209912
Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center
Associated Project(s): CTA Robotics

Text Reference
John Tuley, Nicolas Vandapel, and Martial Hebert, "Analysis and removal of artifacts in 3-D LADAR data," tech. report CMU-RI-TR-04-44, Robotics Institute, Carnegie Mellon University, August, 2004

BibTeX Reference
@techreport{Vandapel_2004_4873,
   author = "John Tuley and Nicolas Vandapel and Martial Hebert",
   title = "Analysis and removal of artifacts in 3-D LADAR data",
   booktitle = "",
   institution = "Robotics Institute",
   month = "August",
   year = "2004",
   number= "CMU-RI-TR-04-44",
   address= "Pittsburgh, PA",
}