Range-intensity histogram for segmenting LADAR images

Abstract We discuss a segmentation and preliminary recognition scheme for integrated sensory data. We perform pixel-level fusion of range and reflectance (intensity) data from a laser radar (ladar) sensor by constructing range-based intensity histograms containing the sum of intensity values of all pixels at regular range intervals. The ranges at which peaks occur in the histogram are hypothesized as ranges at which an object of interest might be present in the input scene. Likely objects are then segmented and subsequently identified using a nearest neighbor classifier.

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