Toward High Resolution, Ladar-Quality 3-D World Models Using Ladar-Stereo Data Integration and Fusion

Abstract : An approach and architecture to incorporate data integration and fusion of laser radar (ladar) and stereo data to generate high resolution, ladar-quality three-dimensional world models is described. Our primary interest involves complex environments that have proved difficult for traditional stereo algorithms to produce accurate information. The principal novelty of our work is the use of ladar information as a priori disparity information. Initial results verify the validity of the approach. Improvement in the identification of occluded regions and reduction of the error in disparities are observed.

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