LADAR-Camera Registration Using Object Pose and Camera Calibration Algorithms

Report No. ARL-TR-3147
Authors: William F. Oberle and Gary A. Haas
Date/Pages: April 2004; 63 pages
Abstract: To be effective, combining or fusing data from a variety of sensors requires all the data to be placed within the context of a common coordinate system. The process of determining the relation between the various sensor coordinate systems is termed "registration". This work investigates the registration between a LADAR sensor and an imagery camera. Both object pose and camera calibration algorithms are explored. The two methods providing the best results are an object pose method, POSIT, by DeMenthon and Davis, University of Maryland, College Park, and a camera calibration method by Bouguet.
Distribution: Approved for public release
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Last Update / Reviewed: April 1, 2004