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Full-Text Articles in Engineering
Cross Hallway Detection And Indoor Localization Using Flash Laser Detection And Ranging, Istvan M. Prileszky
Cross Hallway Detection And Indoor Localization Using Flash Laser Detection And Ranging, Istvan M. Prileszky
Theses and Dissertations
A flash LADAR is investigated as a source of navigation information to support cross-hallway detection and relative localization. To accomplish this, a dynamic, flexible simulation was developed that simulated the LADAR and the noise of a LADAR system. Using simulated LADAR data, algorithms were developed that were shown to be effective at detecting cross hallways in simulated ideal environments and in simulated environments with noise. Relative position was determined in the same situations. A SwissRanger SR4000 flash LADAR was then used to collect real data and to verify algorithm performance in real environments. Hallway detection was shown to be possible …
Ladar Range Image Interpolation Exploiting Pulse Width Expansion, Jeramy W. Motes
Ladar Range Image Interpolation Exploiting Pulse Width Expansion, Jeramy W. Motes
Theses and Dissertations
Laser Detection and Ranging (LADAR) systems produce both a range image and an intensity image by measuring the intensity of light reflected off a surface target. When the transmitted LADAR pulse strikes a sloped surface, the returned pulse is expanded temporally. This characteristic of the reflected laser pulse enables the possibility of estimating the gradient of a surface. This study estimates the gradient of the surface of an object from a modeled LADAR return pulse that includes accurate probabilistic noise models. The range and surface gradient estimations are incorporated into a novel interpolator that facilitates an effective three dimensional (3D) …
Improving Range Estimation Of A 3d Flash Ladar Via Blind Deconvolution, Jason R. Mcmahon
Improving Range Estimation Of A 3d Flash Ladar Via Blind Deconvolution, Jason R. Mcmahon
Theses and Dissertations
The purpose of this research effort is to improve and characterize range estimation in a three-dimensional FLASH LAser Detection And Ranging (3D FLASH LADAR) by investigating spatial dimension blurring effects. The myriad of emerging applications for 3D FLASH LADAR both as primary and supplemental sensor necessitate superior performance including accurate range estimates. Along with range information, this sensor also provides an imaging or laser vision capability. Consequently, accurate range estimates would also greatly aid in image quality of a target or remote scene under interrogation. Unlike previous efforts, this research accounts for pixel coupling by defining the range image mathematical …
Range Precision Of Ladar Systems, Steven E. Johnson
Range Precision Of Ladar Systems, Steven E. Johnson
Theses and Dissertations
A key application of Laser Detection and Ranging (LADAR) systems is measurement of range to a target. Many modern LADAR systems are capable of transmitting laser pulses that are less than a few nanoseconds in duration. These short-duration pulses provide excellent range precision. However, randomness in the detected laser signals places limits on the precision. The goal of this dissertation is to quantify the range precision limits of LADAR systems. The randomness in the time between photon arrivals, which is called shot noise, is discussed in depth. System-dependent noise sources such as dark current and detector gain variation are considered. …
Fast Scene Based Nonuniformity Correction With Minimal Temporal Latency, Christopher A. Rice
Fast Scene Based Nonuniformity Correction With Minimal Temporal Latency, Christopher A. Rice
Theses and Dissertations
The focus of this research was to derive a new algorithm for correction of gain nonuniformities in LIDAR focal plane arrays using as few frames as possible. Because of the current low production rate of LIDAR focal plane arrays there is a natural tendency for extreme nonuniformities to exist on a pixel by pixel basis as the manufacturing technique has not yet been perfected. Generally, nonuniformity correction techniques require a large number of frames and/or have obscure requirements on the translational shifts in the input image frames. This thesis presents a solution for finding multiplicative nonuniformities that exist in a …
Deconvolution Analysis Of Laser Pulse Profiles From 3-D Ladar Temporal Returns, Michael D. Walter
Deconvolution Analysis Of Laser Pulse Profiles From 3-D Ladar Temporal Returns, Michael D. Walter
Theses and Dissertations
Three-dimensional laser imaging systems offer important advantages for battlefield applications, such as night-time targeting and tactical reconnaissance. Recently developed technologies used by coherent detection systems that collect temporally resolved images include arrays of Avalanche Photo-Diodes (APD), Geiger mode APDs, and photo-diodes. Frequently, LADAR systems produce waveforms from each detector that characterize the convolution of the transmitted laser pulse with the target surface. The pulse convolution generates uncertainty as to the precise location of a target surface, which can severely impact various weapon systems' targeting capability. This work analyzes two deconvolution techniques: Wiener filtering and an iterative process derived from the …
Performance Of Imaging Laser Radar In Rain And Fog, Kathleen M. Campbell
Performance Of Imaging Laser Radar In Rain And Fog, Kathleen M. Campbell
Theses and Dissertations
The Air Force is currently developing imaging laser radar systems (ladar) for use on precision guided munitions and other imaging systems. Scientists at Eglin Air Force Base, in conjunction with Wright Laboratories, are testing a 1.06-um wavelength ladar system and need to understand the weather effects on the ladar images. As the laser beam propagates through the atmosphere, fog droplets and raindrops can cause image degradation, and these image degradations are manifested as either dropouts or false returns. An analysis of the dropouts and false returns helped to quantify the performance of the system in adverse weather conditions. Statistical analysis …