Flash laser detection and ranging (LADAR) systems are increasingly used in robotics applications for autonomous navigation and obstacle avoidance. Their compact size, high frame rate, wide field of view, and low cost are key advantages over traditional scanning LADAR devices. However, these benefits are achieved at the cost of spatial resolution. Therefore super-resolution enhancement can be applied to improve the resolution of flash LADAR data. Previous work by Rosenbush et al. applied the super-resolution algorithm of Vandewalle et al. to flash LADAR data, and observed quantitative improvement in image quality in terms of number of edges detected. This study uses the super-resolution algorithm of Young et al. to enhance the resolution of range data acquired from a SwissRanger SR-3000 flash LADAR camera. This work applies a preprocessing stage that increases the accuracy of sub-pixel shift estimation for improved registration of multiple flash LADAR frames and uses the triangle orientation discrimination methodology for a subjective evaluation. The objective is to measure the improvement in probabilities of target discrimination at various ranges achieved by super-resolution enhancement of flash LADAR data.
Proceedings Title: Proceedings of the 2008 Performance Metrics for Intelligent Systems (PerMIS) Workshop
Conference Dates: August 19-21, 2008
Conference Location: Gaithersburg, MD
Pub Type: Conferences
Super-resolution, flash LADAR, image registration, triangle orientation discrimination methodology