Fuzzy Scene Matching in LADAR Imagery

In the field of computer vision, object recognition and spatial relationship evaluation are useful in creating a scene identification system. This paper examines object pair matching within LADAR (Laser Radar) imagery. By manipulating the three-dimensional data contained within a LADAR range image, it is possible to create a version of the scene as seen from above. In the transformed view, each object is represented by a fuzzy region, and the spatial relationship between two objects is represented by a force histogram. Matching two scenes then comes down to comparing force histograms. Each comparison gives a degree of similarity between the two object pairs considered, as well as an assessment of the pose parameters. These values can finally be combined to find a correct scene matching. Experiments on synthetic data as well as on real data demonstrate the applicability of our approach.