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Air Force Institute of Technology

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Articles 151 - 180 of 349

Full-Text Articles in Optics

Passively Estimating Index Of Refraction For Specular Reflectors Using Polarimetric Hyperspectral Imaging, Jacob A. Martin Dec 2016

Passively Estimating Index Of Refraction For Specular Reflectors Using Polarimetric Hyperspectral Imaging, Jacob A. Martin

Theses and Dissertations

As off-nadir viewing platforms becoming increasingly prevalent in remote sensing, material classification and ID techniques robust to changing viewing geometries must be developed. Traditionally, either reflectivity or emissivity are used for classification, but these quantities vary with viewing angle. Instead, estimating index of refraction may be advantageous as it is invariant with respect to viewing geometry. This work focuses on estimating index of refraction from LWIR (875-1250 wavenumbers) polarimetric hyperspectral radiance measurements.


Dual Role Of Sb Ions As Electron Traps And Hole Traps In Photorefractive Sn2P2S6 Crystals, Brant E. Kananen, Eric M. Golden, Sergey A. Basun, D. R. Evans, A. A. Grabar, I. M. Stoika, John W. Mcclory, Nancy C. Giles, Larry E. Halliburton Dec 2016

Dual Role Of Sb Ions As Electron Traps And Hole Traps In Photorefractive Sn2P2S6 Crystals, Brant E. Kananen, Eric M. Golden, Sergey A. Basun, D. R. Evans, A. A. Grabar, I. M. Stoika, John W. Mcclory, Nancy C. Giles, Larry E. Halliburton

Faculty Publications

Doping photorefractive single crystals of Sn2P2S6 with antimony introduces both electron and hole traps. In as-grown crystals, Sb3+ (5s2) ions replace Sn2+ ions. These Sb3+ ions are either isolated (with no nearby perturbing defects) or they have a charge-compensating Sn2+ vacancy at a nearest-neighbor Sn site. When illuminated with 633 nm laser light, isolated Sb3+ ions trap electrons and become Sb2+ (5s25p1) ions. In contrast, Sb3+ ions with an adjacent Sn vacancy trap holes during illumination. The hole is primarily …


Reflective Inverse Diffusion, Kenneth W. Burgi, Jessica Ullom, Michael A. Marciniak, Mark E. Oxley Nov 2016

Reflective Inverse Diffusion, Kenneth W. Burgi, Jessica Ullom, Michael A. Marciniak, Mark E. Oxley

Faculty Publications

Phase front modulation was previously used to refocus light after transmission through scattering media. This process has been adapted here to work in reflection. A liquid crystal spatial light modulator is used to conjugate the phase scattering properties of diffuse reflectors to produce a converging phase front just after reflection. The resultant focused spot had intensity enhancement values between 13 and 122 depending on the type of reflector. The intensity enhancement of more specular materials was greater in the specular region, while diffuse reflector materials achieved a greater enhancement in non-specular regions, facilitating non-mechanical steering of the focused spot. Scalar …


Optical Theory Improvements To Space Domain Awareness, Tyler J. Hardy Sep 2016

Optical Theory Improvements To Space Domain Awareness, Tyler J. Hardy

Theses and Dissertations

This dissertation focuses on increasing the ability to detect space objects and increase Space Domain Awareness (SDA) with space surveillance sensors through image processing and optical theory. SDA observations are collected through ground-based radar and optical systems as well as space based assets. This research focuses on a ground-based optical telescope system, the Space Surveillance Telescope (SST). By increasing the number of detectable Resident Space Objects (RSOs) through image processing, SDA capabilities can be expanded. This is accomplished through addressing two main degrading factors present in typical SDA sensors; spatial undersampling in the collected data and noise models and assumptions …


Particle Image Velocimetry And Analysis Methods Using Cleanly Seeded Particles In Supersonic Flow, Paul A. Gulotta Jun 2016

Particle Image Velocimetry And Analysis Methods Using Cleanly Seeded Particles In Supersonic Flow, Paul A. Gulotta

Theses and Dissertations

Particle Image Velocimetry (PIV) was successfully conducted in the Air Force Research Lab Mach 3/ Mach 6 Facility (M3M6F) for the first time. Particle response experiments evaluating the performance of dry ice particles across an oblique shock wave were conducted using a 15 degree half-wedge in nominal Mach 3 flow. Solid carbon dioxide particles are generated through rapid expansion of liquid carbon dioxide via a small nozzle within a simple shroud tube or a tube containing static mixing elements. Particles are injected directly into the settling chamber of the Mach 3 tunnel. The particle response of carbon dioxide particles is …


Laminar Flame Combustion Diagnostics Using Imaging Fourier Transform Spectroscopy, Michael R. Rhoby Jun 2016

Laminar Flame Combustion Diagnostics Using Imaging Fourier Transform Spectroscopy, Michael R. Rhoby

Theses and Dissertations

Laminar flames are an important tool in combustion diagnostics with a host of pre-existing experimental research methods. Currently, however, no method captures time-resolved scalar profile estimates of temperature, and major species concentrations with a single measurement. This work provides IFTS with the capability to measure time-resolved 3D imaging of scalar values in laminar axisymmetric flames. This will make IFTS a useful tool for understanding combustion phenomenon, validating chemical kinetic models, verifying numerical simulations, and system performance estimate. Two algorithms are presented. The first reconstructs spectra as a function of flame period. Through selectively averaging over an ensemble of measurements, interferograms …


Unequal A Priori Probability Multiple Hypothesis Testing In Space Domain Awareness With The Space Surveillance Telescope, Tyler J. Hardy, Stephen C. Cain, Travis F. Blake May 2016

Unequal A Priori Probability Multiple Hypothesis Testing In Space Domain Awareness With The Space Surveillance Telescope, Tyler J. Hardy, Stephen C. Cain, Travis F. Blake

Faculty Publications

This paper investigates the ability to improve Space Domain Awareness (SDA) by increasing the number of detectable Resident Space Objects (RSOs) from space surveillance sensors. With matched filter based techniques, the expected impulse response, or Point Spread Function (PSF), is compared against the received data. In the situation where the images are spatially undersampled, the modeled PSF may not match the received data if the RSO does not fall in the center of the pixel. This aliasing can be accounted for with a Multiple Hypothesis Test (MHT). Previously, proposed MHTs have implemented a test with an equal a priori prior …


Simulation, Design, And Test Of Square, Apodized Photon Sieves For High-Contrast, Exoplanet Imaging, Thomas W.N. Dickinson Mar 2016

Simulation, Design, And Test Of Square, Apodized Photon Sieves For High-Contrast, Exoplanet Imaging, Thomas W.N. Dickinson

Theses and Dissertations

A photon sieve is a lightweight, diffractive optic which is well-suited to be a deployable primary for a space telescope. Point spread functions (PSFs) can be altered by shaping and apodizing an aperture, and a PSF that drops rapidly from the peak is desirable for high-contrast imaging. For this reason, square apodized photon sieves were simulated, designed, and tested for high-contrast performance and use in an exoplanet imaging telescope. These sieves were shown to outperform conventional optics and unapodized sieves for high-contrast imaging in a number of tests. New methods were developed for apodizing sieves, measuring PSFs, and characterizing high-contrast …


Image-Based Bidirectional Reflectance Distribution Function Of Human Skin In The Visible And Near Infrared, Jeffrey R. Bintz Mar 2016

Image-Based Bidirectional Reflectance Distribution Function Of Human Skin In The Visible And Near Infrared, Jeffrey R. Bintz

Theses and Dissertations

Human detection is an important first step in locating and tracking people in many missions including SAR and ISR operations. Recent detection systems utilize hyperspectral and multispectral technology to increase the acquired spectral content in imagery and subsequently better identify targets. This research demonstrates human detection through a multispectral skin detection system to exploit the unique optical properties of human skin. At wavelengths in the VIS and NIR regions of the electromagnetic spectrum, an individual can be identified by their unique skin parameters. Current detection methods base the skin pixel selection criteria on a diffuse skin reflectance model; however, it …


Modeled And Measured Image-Plane Polychromatic Speckle Contrast, Noah R. Van Zandt, Jack E. Mccrae, Steven T. Fiorino Feb 2016

Modeled And Measured Image-Plane Polychromatic Speckle Contrast, Noah R. Van Zandt, Jack E. Mccrae, Steven T. Fiorino

Faculty Publications

The statistical properties of speckle relevant to short- to medium-range (tactical) active tracking involving polychromatic illumination are investigated. A numerical model is developed to allow rapid simulation of speckled images including the speckle contrast reduction effects of illuminator bandwidth, surface slope, and roughness, and the polarization properties of both the source and the reflection. Regarding surface slope (relative orientation of the surface normal and illumination/observation directions), Huntley’s theory for speckle contrast, which employs geometrical approximations to decrease computation time, is modified to increase accuracy by incorporation of a geometrical correction factor and better treatment of roughness and polarization. The resulting …


System And Method For Identifying Electrical Properties Of Integrate Circuits, Mary Y. Lanzerotti Jan 2016

System And Method For Identifying Electrical Properties Of Integrate Circuits, Mary Y. Lanzerotti

AFIT Patents

A new method for displaying electrical properties for integrated circuit (IC) layout designs provides for improved human visualization of those properties and comparison of as designed layout design parameters to as specified layout design parameters and to as manufactured layout parameters. The method starts with a circuitry as designed layout in a first digital format, extracts values for electrical properties from that circuitry as designed layout then annotates those values back into the first digital format. The annotated circuitry as designed layout is then converted from the first digital format to a second digital format that can be converted to …


Comparison Of Microfacet Brdf Model To Modified Beckmann-Kirchhoff Brdf Model For Rough And Smooth Surfaces, Samuel D. Butler, Stephen E. Nauyoks, Michael A. Marciniak Nov 2015

Comparison Of Microfacet Brdf Model To Modified Beckmann-Kirchhoff Brdf Model For Rough And Smooth Surfaces, Samuel D. Butler, Stephen E. Nauyoks, Michael A. Marciniak

Faculty Publications

A popular class of BRDF models is the microfacet models, where geometric optics is assumed. In contrast, more complex physical optics models may more accurately predict the BRDF, but the calculation is more resource intensive. These seemingly disparate approaches are compared in detail for the rough and smooth surface approximations of the modified Beckmann-Kirchhoff BRDF model, assuming Gaussian surface statistics. An approximation relating standard Fresnel reflection with the semi-rough surface polarization term, Q, is presented for unpolarized light. For rough surfaces, the angular dependence of direction cosine space is shown to be identical to the angular dependence in the microfacet …


Experimentally Generating Any Desired Partially Coherent Schell-Model Source Using Phase-Only Control, Milo W. Hyde Iv, Santasri Basu, David G. Voelz, Xifeng Xiao Sep 2015

Experimentally Generating Any Desired Partially Coherent Schell-Model Source Using Phase-Only Control, Milo W. Hyde Iv, Santasri Basu, David G. Voelz, Xifeng Xiao

Faculty Publications

A technique is presented to produce any desired partially coherent Schell-model source using a single phase-only liquid-crystal spatial light modulator (SLM). Existing methods use SLMs in combination with amplitude filters to manipulate the phase and amplitude of an initially coherent source. The technique presented here controls both the phase and amplitude using a single SLM, thereby making the amplitude filters unnecessary. This simplifies the optical setup and significantly increases the utility and flexibility of the resulting system. The analytical development of the technique is presented and discussed. To validate the proposed approach, experimental results of three partially coherent Schell-model sources …


Experimental And Theoretical Basis For A Closed-Form Spectral Brdf Model, Samuel D. Butler Sep 2015

Experimental And Theoretical Basis For A Closed-Form Spectral Brdf Model, Samuel D. Butler

Theses and Dissertations

The microfacet class of BRDF models is frequently used to calculate optical scatter from realistic surfaces using geometric optics, but has the disadvantage of not being able to consider wavelength dependence. This dissertation works toward development of a closed-form approximation to the BRDF that is suitable for hyperspectral remote sensing by presenting measured BRDF data of 12 different materials at four different incident angles and up to seven different wavelengths between 3.39 and 10.6 µm. The data was intended to be fit to various microfacet BRDF models to determine an appropriate form of the wavelength scaling. However, when fitting the …


Coherent Thermal Emission From Photonic Nanostructures Composed Of Ta, W, Ge, And Hfo2 Thin Films, Mark T. Dodd Mar 2015

Coherent Thermal Emission From Photonic Nanostructures Composed Of Ta, W, Ge, And Hfo2 Thin Films, Mark T. Dodd

Theses and Dissertations

Combining an understanding of thin films and structure/property relationships, photonic nano-structures were developed in order to affect the spectral and directional radiative properties of coherent thermal emission. The targeted emission range was 2-20 µm. Structures with appropriate materials in order to achieve thermal stability were designed and tested. Implementing a Finite Difference Time Domain numerical method, four truncated multilayer resonators were designed to selectively emit at certain transmissive wavelength bands of the atmosphere in 2-20 µm. Ellipsometric measurements and models were used in order to extract the optical constants of thin layers of materials chosen for the resonator designs. These …


Photon Sieve Bandwidth Broadening By Reduction Of Chromatic Aberration Effects Using Second-Stage Diffractive Optics, Christopher M. Tulip Mar 2015

Photon Sieve Bandwidth Broadening By Reduction Of Chromatic Aberration Effects Using Second-Stage Diffractive Optics, Christopher M. Tulip

Theses and Dissertations

A photon sieve is a lightweight diffractive optic which can be useful for space-based imaging applications. It is limited by chromatic aberration and a narrow bandwidth. A Fresnel zone plate is used to counteract this effect in a manner similar to that accomplished with a traditional holographic corrector. First, a radiometric analysis established a target for bandwidth improvement. Next, a sieve was designed, fabricated, and characterized. Third, the bandwidth-broadening correction scheme was developed to correct primary chromatic aberration. Finally, a zone plate was designed, fabricated, and tested. Performance of the corrected system was measured over the target bandwidth. The corrected …


Two-Dimensional Temperature Analysis Of Nuclear Fireballs Using Digitized Film, Robert C. Slaughter, Tyler R. Peery, John W. Mcclory Jan 2015

Two-Dimensional Temperature Analysis Of Nuclear Fireballs Using Digitized Film, Robert C. Slaughter, Tyler R. Peery, John W. Mcclory

Faculty Publications

Researchers at Lawrence Livermore National Laboratory have begun digitizing technical films spanning the atmospheric nuclear testing operations conducted by the United States from 1945 through 1962. Each atmospheric nuclear test was filmed by Edgerton, Germeshausen, and Grier, Inc., using between 20 to 40 cameras per test. These technical film test data represent a primary source for advancing the knowledge of nuclear weapon output as well as the understanding of nonnuclear high-temperature gases. This manuscript outlines the procedures followed in order to perform two-dimensional temperature calculations for early time nuclear fireballs using digitized film. The digitized optical densities of the film …


Direct Emissivity Measurements Of Painted Metals For Improved Temperature Estimation During Laser Damage Testing, Sean M. Baumann Mar 2014

Direct Emissivity Measurements Of Painted Metals For Improved Temperature Estimation During Laser Damage Testing, Sean M. Baumann

Theses and Dissertations

A database of spectral, temperature dependent emissivities was created for a range of painted aluminum laser damage testing targets with the purpose of improving accuracy in temperature estimates on front and back target surfaces during laser damage tests. Previous temperature estimations were made by fitting an assumed graybody radiance curve to the radiance measured from the back surface via a Telops imaging Fourier transform spectrometer. In this work, spectral emissivity measurements were made using an SOC-100 hemispherical directional reflectometer and Nicolet Fourier transform infrared spectrometer. Of particular interest was a high temperature matte black enamel paint used to coat the …


Characterizing Optical Loss In Orientation Patterned Iii-V Materials Using Laser Calorimetry, Dushyant A. Sadhwani Mar 2014

Characterizing Optical Loss In Orientation Patterned Iii-V Materials Using Laser Calorimetry, Dushyant A. Sadhwani

Theses and Dissertations

This research examines the optical loss in orientation patterned III-V materials. Laser calorimetry technique was assembled to measure the absorption loss in GaAs, GaP and Fe2+ZnSe samples. Three different methods are explained and utilized to calculate the absorptance value from the calorimetry data. Absorption coefficient values were found for three different samples of GaAs ranging from 0.025±0.009 cm-1 to 0.80±0.08 cm-1, all within the sphere of published values for GaAs. A Complete Angle Scatter Instrument (CASI) was used to determine scatter at incident angles ranging from 0 to 55.5 degrees from two OPGaAs samples using …


Model Uncertainty And Test Of A Segmented Mirror Telescope, Luke C. Dras Mar 2014

Model Uncertainty And Test Of A Segmented Mirror Telescope, Luke C. Dras

Theses and Dissertations

The future of large aperture telescopes relies heavily on the development of segmented array designs. Today's monolithic mirror technology has reached a barrier, particularly for space-based telescopes. These large diameter, dense mirrors allow stable high-resolution imaging but are incompatible with optimized space launch. Segmented mirror telescopes are designed to balance lightweight with compact stowage. The structure necessary to support the flexible mirror array often combines isogrid geometry and complex actuation hardware. High-fidelity finite element models are commonly used to economically predict how the optics will perform under different environmental conditions. The research detailed herein integrates superelement partitioning and complexity simplifying …


Range Finding With A Plenoptic Camera, Robert A. Raynor Mar 2014

Range Finding With A Plenoptic Camera, Robert A. Raynor

Theses and Dissertations

The plenoptic camera enables simultaneous collection of imagery and depth information by sampling the 4D light field. The light field is distinguished from data sets collected by stereoscopic systems because it contains images obtained by an N by N grid of apertures, rather than just the two apertures of the stereoscopic system. By adjusting parameters of the camera construction, it is possible to alter the number of these `subaperture images,' often at the cost of spatial resolution within each. This research examines a variety of methods of estimating depth by determining correspondences between subaperture images. A major finding is that …


Comparative Analysis Of Reconstructed Image Quality In A Simulated Chromotomographic Imager, Ryan L. Tervo Mar 2014

Comparative Analysis Of Reconstructed Image Quality In A Simulated Chromotomographic Imager, Ryan L. Tervo

Theses and Dissertations

A hyperspectral chromotomographic instrument has been developed to determine the spatial and spectral distribution of a target. It does this by recording the dispersed images produced by a rotating direct vision prism with a high speed camera. The recorded images are processed through a tomographic reconstruction algorithm to produce a reconstructed hypercube. A physics-based system model was developed to investigate three areas. The first was how the prism angle selection and range of angles used impacted the reconstructed image quality. The second was an assessment of a new iterative reconstruction algorithm developed to remove artifacts produced in the Back Projection …


Image Deblurring And Near-Real-Time Atmospheric Seeing Estimation Through The Employment Of Convergence Of Variance, Brian J. Neff, Quentin D. Macmanus, Stephen C. Cain, Richard K. Martin Sep 2013

Image Deblurring And Near-Real-Time Atmospheric Seeing Estimation Through The Employment Of Convergence Of Variance, Brian J. Neff, Quentin D. Macmanus, Stephen C. Cain, Richard K. Martin

Faculty Publications

A new image reconstruction algorithm is presented that will remove the effect of atmospheric turbulence on motion compensated frame average images. The primary focus of this research was to develop a blind deconvolution technique that could be employed in a tactical military environment where both time and computational power are limited. Additionally, this technique can be employed to measure atmospheric seeing conditions. In a blind deconvolution fashion, the algorithm simultaneously computes a high resolution image and an average model for the atmospheric blur parameterized by Fried’s seeing parameter. The difference in this approach is that it does not assume a …


Clustering Hyperspectral Imagery For Improved Adaptive Matched Filter Performance, Jason P. Williams, Kenneth W. Bauer, Mark A. Friend Jun 2013

Clustering Hyperspectral Imagery For Improved Adaptive Matched Filter Performance, Jason P. Williams, Kenneth W. Bauer, Mark A. Friend

Faculty Publications

This paper offers improvements to adaptive matched filter (AMF) performance by addressing correlation and non-homogeneity problems inherent to hyperspectral imagery (HSI). The estimation of the mean vector and covariance matrix of the background should be calculated using “target-free” data. This statement reflects the difficulty that including target data in estimates of the mean vector and covariance matrix of the background could entail. This data could act as statistical outliers and severely contaminate the estimators. This fact serves as the impetus for a 2-stage process: First, attempt to remove the target data from the background by way of the employment of …


Design, Development, And In-Flight Testing Of A Pointer/Tracker For In-Flight Experiments To Measure Aero-Optical Effects Over A Scaled Turret, Matthew J. Krizo, Salvatore J. Cusumano, Steven T. Fiorino, Ryan Heap, Victor Velten, Joshua Brown, Richard J. Bartell Apr 2013

Design, Development, And In-Flight Testing Of A Pointer/Tracker For In-Flight Experiments To Measure Aero-Optical Effects Over A Scaled Turret, Matthew J. Krizo, Salvatore J. Cusumano, Steven T. Fiorino, Ryan Heap, Victor Velten, Joshua Brown, Richard J. Bartell

Faculty Publications

We address the design, development, and testing of a pointer/tracker as a probe beam for the purpose of making high-speed, aero-optical measurements of the flow over a scaled beam director turret. The tracker uses retro-reflection of the probe beam off of a Reflexite annulus surrounding the turret. The constraints of the design required a near-total-commercial off the shelf system that could be quickly installed and removed in a rented aircraft. Baseline measurements of environmental vibrations are used to predict pointing performance; mitigation of line-of-sight jitter on the probe beam is achieved through passive isolation and the design of relay optics. …


An Inverse Kinematic Approach Using Groebner Basis Theory Applied To Gait Cycle Analysis, Anum Barki Mar 2013

An Inverse Kinematic Approach Using Groebner Basis Theory Applied To Gait Cycle Analysis, Anum Barki

Theses and Dissertations

Kinematics of the human body was researched for the purposes of this study. The force protection issues of today was the motivation to research pattern recognition in the human gait cycle to identify individuals carrying a concealed load on their body. The goal of this research was to identify gait signatures of human subjects and distinguish between subjects carrying a concealed load to subjects without load. Thus, this research was focused on studying the human gait cycle as well as methods used in identifying gait signatures. The main focus herein is concerned with the movement of the lower extremities, in …


Development And Characterization Of A Chromotomosynthetic Hyperspectral Imaging System, Randall L. Bostick Mar 2013

Development And Characterization Of A Chromotomosynthetic Hyperspectral Imaging System, Randall L. Bostick

Theses and Dissertations

A chromotomosynthetic imaging (CTI) methodology based upon mathematical reconstruction of a set of 2-D spectral projections to collect high-speed (100 Hz) 3-D hyperspectral data cube has been proposed. The CTI system can simultaneously provide usable 3-D spatial and spectral information, provide high-frame rate slitless 1-D spectra, and generate 2-D imagery equivalent to that collected with no prism in the optical system. The wavelength region where prism dispersion is highest (500 nm) is most sensitive to loss of spectral resolution in the presence of systematic error, while wavelengths 600 nm suffer mostly from a shift of the spectral peaks. The quality …


Development Of A Spectropolarimetric Capability, Evan J. Carlson Mar 2013

Development Of A Spectropolarimetric Capability, Evan J. Carlson

Theses and Dissertations

A Bomem 200 series Fourier transform infrared spectrometer and FLIR Systems Inc InGaAs infrared (IR) camera was used to measure the degree of linear polarization (DOLP) from a metal and glass surfaces. This was accomplished by placing a wire grid polarizer in front of the aperture of the FTIR and IR camera to measure the polarized reflection from the target material. For the IR camera, an average of pixel counts was collected over the area of the target to measure to DOLP. Factors impacting the accuracy of the measurements from the FTIR are calibration, instrument self emission, and alignment error. …


Discrimination Of Neutral Postures In Computer Based Work, Alanna R. Keith Mar 2013

Discrimination Of Neutral Postures In Computer Based Work, Alanna R. Keith

Theses and Dissertations

A biometric system recognizes users based on the way they physically interact with the system. In this work, we discover a common behavior that a typist consistently displays in non-trivial computer work. We sought to demonstrate three objectives: first, compelling proof that a user can be actively recognized over the course of a lengthy task via a neutral posture struck multiple times in that task; two, a sensing concept for capturing the neutral posture, and, third, an objective method for determine the level of work performed by each typist. This thesis develops a model for hand tracking using a simple …


Cross Hallway Detection And Indoor Localization Using Flash Laser Detection And Ranging, Istvan M. Prileszky Jun 2012

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 …