/Analysis and removal of artifacts in 3-D LADAR data

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

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.


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
author = {John Tuley and Nicolas Vandapel and Martial Hebert},
title = {Analysis and removal of artifacts in 3-D LADAR data},
year = {2004},
month = {August},
institution = {Carnegie Mellon University},
address = {Pittsburgh, PA},
number = {CMU-RI-TR-04-44},
keywords = {mixed-pixels, laser, filtering},