Visualization and Verification of Automatic Target Recognition Results Using Combined Range and Optical Imager

The Rangeview software system presented here addresses two significant issues in the development and deployment of an AutomaticTarget Recognizer: visualization of progress of the recognizer in finding a target, and verification by an operator of the correctness of the match. The system combines range imagery from a LADAR device with optical imagery from a color CCD camera and/or FLIR sensor to display a three-dimensional representation of the scene and the target model. Range imagery creates a partial three-dimensional representation of the scene. Optical imagery is mapped onto this partial three-dimensional representation. Output from the ATR is registered in three dimensions with the scene. Recognized targets are displayed in correct spatial relation to the scene, and the registered scene and target may be visually inspected from any viewpoint. 1 Introduction Model-Based Object Recognition techniques use sensor data to find the three-dimensional position in a scene of an object whic..

Three-dimensional visualization environment for multisensor data analysis, interpretation, and model-based object recognition

Model-based object recognition must solve three-dimensional geometric problems involving the registration of multiple sensors and the spatial relationship of a three-dimensional model to the sensors. Observation and verification of the registration and recognition processes requires display of these geometric relationships. We have developed a prototype software system which allows a user to interact with the sensor data and model matching system in a three-dimensional environment. This visualization environment combines range imagery, color imagery, thermal (infrared) imagery, and CAD models of objects to be recognized. We are currently using imagery of vehicles travelling off-road (a challenging environment for the object recognizer). Range imagery is used to create a partial three-dimensional representation of a scene. Optical imagery is mapped onto this partial 3D representation. Visualization allows monitoring of the recognizer as it solves for the type and position of the object...