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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.

BibTeX Reference
@techreport{Tuley-2004-8997,
title = {Analysis and removal of artifacts in 3-D LADAR data},
author = {John Tuley and Nicolas Vandapel and Martial Hebert},
keyword = {mixed-pixels, laser, filtering},
sponsor = {U.S Army Research Laboratory},
grantID = {DAAD19-01-209912},
school = {Robotics Institute , Carnegie Mellon University},
month = {August},
year = {2004},
number = {CMU-RI-TR-04-44},
address = {Pittsburgh, PA},
}
2017-09-13T10:43:53+00:00