Real-Time 3-D Ladar Imaging

Abstract

A prototype image processing system has recently been developed which generates, displays and analyzes three-dimensional ladar data in real-time. It is based upon a suite of novel algorithms that transform raw ladar data into cleaned 3-D images. These algorithms perform noise reduction, ground plane identification, detector response, deconvolution and illumination pattern renormalization. The system also discriminates static from dynamic objects in a scene. In order to achieve real-time throughput, we have parallelized these algorithms on a Linux cluster. We demonstrate that multiprocessor software plus Blade hardware result in a compact, real-time imagery generation adjunct to an operating ladar. Finally, we discuss interesting directions for future work like automatic recognition of moving people and real-time reconnaissance from mobile platforms. Such enhancements of our prototype imaging system can lead to multiple military and civilian applications of national importance