Wall-Based Registration of Two Scanning Ladar Sensors

Report No. ARL-TR-3595
Authors: Gary A. Haas (ARL)
Date/Pages: August 2005; 25 pages
Abstract: 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.
Distribution: Approved for public release
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Last Update / Reviewed: August 1, 2005