Patent ID: 9215382
Filing Date: 2015-12-15
Classification: G01S,G06K,G06T

Abstract:
1. A method for visual verification of target recognition by electronically fusing a two-dimensional video data stream and a three-dimensional LADAR data stream to produce a synthesized stream of target video data, comprising: providing a system to recognize a target, said system, comprising: collecting two-dimensional video frames with said video camera, said video frames composed of measurements of energy intensity for each pixel as reflected or emitted from a surface of a scene of the target; collecting three-dimensional Cartesian coordinate points with said LADAR sensor, said three-dimensional Cartesian coordinate points composed from measurements of angle and range to a particular point on said surface of said scene, said points composing a LADAR point cloud of the target; computing a fusion matrix using said video camera geometry and electronically transforming each point of said LADAR point cloud from Cartesian coordinates into a homogeneous fusion coordinate system (FCS), said FCS having projective geometry dimensions of row, column, and depth, wherein said transform is a fusion transform; providing user control of the position and orientation of said control camera and, using said position and orientation of said control camera, computing a control matrix; generating a fusion point cloud by electronically fusing each fusion transformed point, and the pixel energy intensity found in said video frame at the row and column indicated from said fusion transform task of each of said points of said LADAR point cloud; generating a control point cloud by using said control matrix to electronically transform each point of said fusion point cloud from Cartesian coordinates into a homogeneous control coordinate system (CCS), said CCS having projective geometry dimensions of row, column, and depth, wherein said transform is a control transform; rendering a synthetic target video frame by using the pixel energy intensity found in each point of said control point cloud at the row and column indicated from said control transform task of each of said points of said fusion point cloud, wherein a plurality of said synthetic target video frames are a synthesized stream of target video data; and displaying said synthesized stream of target video data on a visual display screen for visual verification by a user.