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Wall-Based Registration of Two Scanning Ladar Sensors
| 题名： | Wall-Based Registration of Two Scanning Ladar Sensors |
| 作者： | Haas, Gary A.; |
| 关键词： | OPTICAL RADAR, GROUND VEHICLES, IMAGE REGISTRATION, SCANNING, DETECTORS, SENSOR FUSION, DATA FUSION, THREE DIMENSIONAL, TRANSFORMATIONS(MATHEMATICS), UNMANNED. |
| 摘要： | This study evaluates the registration between a scanning ladar and a surveying ladar as a possible component in the registration of unmanned ground vehicle mobility sensors in the field. The structured scene used to generate registration data consists of the concave intersection of two walls and the flat pavement, effectively three orthogonal planes. The registration is formulated in terms of the parameters of the three planes. The extraction of the parameters from Cartesian point clouds produced by the ladars is described. The registration is generated and evaluated by qualitative techniques. |
| 总页数： | 23 |
| 报告类型： | 科技报告 |
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