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2D-3D Registration of Optical and Ladar Imagery for Real-Time Tracking

2D-3D Registration of Optical and Ladar Imagery for Real-Time Tracking.

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2D-3D Registration of Optical and Ladar Imagery for Real-Time Tracking

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  1. 2D-3D Registration of Optical and Ladar Imagery for Real-Time Tracking Andrew Mastin,1,2 Jeremy Kepner,1 John Fisher III21Lincoln Laboratory 2Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology, Cambridge MA 02139 mastin@csail.mit.edu kepner@ll.mit.edu fisher@csail.mit.edu High Performance Embedded Computing (HPEC) Workshop 23-25 September 2008 This work is sponsored in part by the Department of the Air Force under Air Force contract FA8721-05-C-0002.  Opinions, interpretations, conclusions and recommendations are those of the author and not necessarily endorsed by the United States Government.

  2. Overview UAV with on-board 3D ladar imagery Initial ladar-optical registration with feature detection and statistical registration Registration updated by tracking feature points in video Real-time tracking with occlusion reasoning from ladar imagery Video reconnaissance

  3. Statistical Registration Methods • Commonly used for registration of multi-modal medical imagery • Information theoretic similarity measure with optimization • Machine learning approach Feature detection / classification Ladar Image Registration Optical Image Feature detection / classification

  4. Fusion of Optical and Ladar Imagery ladar_drape_demo.avi

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