Detection and recognition in ladar using invariants and covariants
Gregory D. Arnold, Kirk Sturtz, Ittay Weiss · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2001
Object-image relations (O-IRs) provide a powerful approach to performing detection and recognition with laser radar (LADAR) sensors. This paper presents the basics of O-I relations and shows how they are derived from invariants. It also explains and shows results of a computationally efficient approach applying covariants to 3-D LADAR data. The approach is especially appealing because the detection and segmentation processes are integrated with recognition into a robust algorithm. Finally, the method provides a straightforward approach to handling articulation and multi-scale decomposition.