The Measurement And Use Of Registered Reflectance And Range Data In Scene Analysis
by Nitzan, David; Brain, Alfred E.; Duda, Richard O.
Technical Note 128
Institution: AI Center, SRI International
Address: 333 Ravenswood Ave, Menlo Park, CA 94025
Note: To be published in the Proceedings Of The IEEE, April 1977. The work reported herein was supported in part by the National Science Foundation under Grant ENG75- 09327 and in part by the Advanced Research Projects Agency under Contract DAHC04-72-C-0008.
The theory and use of a laser sensor designed to provide arrays of registered intensity and range data for three-dimensional scene analysis are described in this paper. Equations are derived to relate the mean and variance of both the intensity and the range data to the physical properties of the target and the parameters of the sensor. Experimental results that verify these equations are given. Adaptive data smoothing and normalization procedures are presented. These procedures reduce photon noise and correct the intensity data for inverse square law effects. The resulting intensity data give the product of the diffuse surface reflectance and the cosine of the angle of incidence for each picture element in the scene. Simple procedures are given for finding outlines of occluding objects, obtaining normal views of obliquely sensed planar surfaces, and extracting the images of horizontal surface regions from a scene. These procedures demonstrate the advantages of having registered reflectance and range data for scene analysis.
|Brain, Alfred (Ted) E.||Alumnus|
|Duda, Richard O.||Alumnus|
|Nitzan, David||Senior Principal Scientist|