Patent ID: 7203339
Filing Date: 2007-04-10
Classification: G06T

Abstract:
1. A method of enhancing two-dimensional contrast and range images rendered from three-dimensional streak tube imaging lidar (STIL) data that is generated by a STIL camera system, comprising the steps of: providing rendered contrast image data and rendered range image data, wherein each of said rendered contrast image data and said rendered range image data comprise pixels of data that comprise an image; scaling an intensity value associated with each pixel of data in said rendered contrast image data based on a mean intensity value of all pixels of data in said rendered contrast image data, wherein first interim contrast image data is created; re-scaling said first interim contrast image data to a predetermined dynamic range, wherein second interim contrast image data is created; modifying said second interim contrast image data to compensate for jitter and charge coupled device (CCD) array effects associated with the STIL camera system, wherein third interim contrast image data is created; re-scaling said third interim contrast image data to said predetermined dynamic range, wherein fourth interim contrast image data is created; normalizing said fourth interim contrast image data using an exponential decay function that describes contrast intensity roll-off associated with said fourth interim contrast image data, wherein fifth interim contrast image data is created; modifying said rendered range image data to compensate for jitter effects associated with the STIL camera system, wherein first interim range image data is created; modifying portions of said first interim range data indicative of background in an image formed by said first interim range data to compensate for CCD array effects and range intensity roll-off associated with the STIL camera system, wherein second interim range image data is created; applying a noise reduction routine to said second interim range image data to assign a revised intensity value to pixels of data from said second interim range image data failing noise criteria defined by said noise reduction routine, wherein third interim range image data is created; and applying a histogram clip routine to said fifth interim contrast image data and said third interim range image data, wherein enhanced contrast image data and enhanced range image data, respectively, are created.