An algorithm for the extraction of static features from 3D Flash LADAR datasets: Supporting navigation in GPS challenged environments

Abstract

3D Flash LADAR cameras provide ranging information at a high frame rate, offering the opportunity to navigate from imaged features. This requires the identification of common features from multiple images acquired from different positions. It is necessary to determine if the features exhibit a static condition, such that moving elements in the imageries are not utilized as part of the navigation solution. Extending previous research (ION April 2006, ION September 2006) in the utilization of implicit polynomials for feature extraction, a new algorithmic approach for the extraction of static and non-static features is exhibited.