Abstract:
Using a hand-held range finding device to range an object in a field of view is difficult due to user-induced jitter. In particular, user-induced jitter introduces uncertainty as to which object in a field of view is actually ranged. Current approaches attempt to mitigate user-induced jitter by requiring a user to mount the hand-held range finding device onto a stabilizing device (e.g., a tripod). However, such approaches require the user to carry additional equipment. Embodiments of the present disclosure enable the user to visually confirm which object in a field of view is actually ranged during a range finding event by generating a composite image that includes a visual representation of a laser pulse emitted by the range finding device reflecting off an object in the field of view. Advantageously, disclosed embodiments provide true hand-held range finding capabilities without requiring the use of stabilization assistance techniques.

Description:
BACKGROUND 
     A laser range finding device is a device that is used to determine the distance of an object from an observer (e.g., a user of the laser range finding device). The laser range finding device can be used, for example, to sight a gun or focus a camera. 
     Generally, a laser range finding device determines the distance to an object by emitting a laser pulse and receiving reflected energy in response to the emitted laser pulse reflecting off of an object. The laser range finding device collects and analyzes information associated with the emitted laser pulse and received reflected energy. For instance, the laser range finding device determines a time the laser pulse is emitted and a time the reflected energy is received. Based on the collected information, the laser range finding device calculates a distance between the laser range finding device and an object from which the reflected energy is received. For example, the laser range finding device determines a time difference between the time the laser pulse is emitted and the time the reflected energy is received. The laser range finding device then multiplies the determined time difference by the speed of light to calculate an estimated distance from the laser range finding device to the object from which the reflected energy is received. 
     SUMMARY 
     Embodiments of the present disclosure include methods, systems, or computer readable medium, with program codes embodied thereon, for determining the distance of a target object using a laser range finding device. One embodiment is a method that includes emitting at least one laser pulse toward the target object. The method also includes receiving reflected energy in response to the at least one laser pulse reflecting off a surface. The surface is associated with at least the target object or another object in the area surrounding the target object. In addition, the method includes capturing an image that includes the target object and an area surrounding the target object. Further, the method includes mapping a location associated with the at least one laser pulse reflecting off the surface to a coordinate corresponding to a coordinate system of the captured image. Also, the method includes generating a composite image for each captured image, the composite image including a visual representation of the at least one laser pulse overlaid on the captured image using the mapping of the location of the at least one laser pulse. 
     The method can further include displaying the composite image. The method can also include, based on information associated with the emission and reflected energy of the at least one laser pulse, calculating a distance between a geographical location of the laser range finding device and a geographical location of the surface and display the calculated distance on the composite image with the visual representation of the reflection. 
     In addition, the method can include determining a targeting reticle&#39;s coordinate with respect to the coordinate system of the captured image at the time of capturing the image. In this example, the targeting reticle is used to aim the laser range finding device toward the target object. Further, the method, in this example, includes using the targeting reticle&#39;s coordinate as the coordinate of the location associated with the at least one laser pulse reflecting off the surface. 
     In another example, the method can include capturing the image wherein the captured image further includes an image of the at least one laser pulse reflecting off the surface (e.g., reflected energy) and determining a coordinate of a location of the at least one laser pulse with respect to the coordinate system of the captured image. 
     The method can also include displaying the composite image with a selectable marking a user can select to designate that a source of the reflected energy corresponds to the surface of the target object. 
     In yet another example, the method can also include collecting information corresponding to movement of the laser range finding device between the capture of at least two images, wherein the information is collected via at least one of the following: motion sensors and image processing. Further, the method can include determining an offset between the coordinate systems of the two images using the collected information. In addition, the method can include generating an aggregated composite image of the at least two images using the determined offset between the at least two images. The method can also include displaying the aggregated composite image. 
     The method can include isolating a region of interest associated with a first captured image of a sequence of captured images. The method can also include comparing the region of interest associated with the first captured image with at least one selected region of the second image to determine a difference between at least one image parameter associated with the region of interest associated with the first image and the at least one selected region of the second image. The method can include selecting the at least one selected region of the second image based on an estimated offset between the first captured image and the second captured image. The estimated offset associated with movement of the laser range finding corresponds to movement of the laser range finding device between the capture of the first captured image and the second captured image. The method can also include overlaying one of the at least one selected region of the second image having a least difference between the at least one image parameter on the region of interest associated with the first captured image. 
     Another embodiment of the present disclosure is a laser range finding device for determining a distance to a target object. The laser range finding device includes a laser emitter configured to emit at least one laser pulse toward the target object. In addition, the laser range finding device includes a laser reflection receiver configured to receive reflected energy in response to the at least one laser pulse reflecting off a surface. The surface is associated with at least the target object or another object in an area surrounding the target object. Also, the laser range finding device includes a camera configured to capture an image that includes the target object and the area surrounding the target object. Further, the laser range finding device includes a mapping processor configured to map a location associated with the at least one laser pulse reflecting off the surface to a coordinate corresponding to a coordinate system of the captured image. Also, the laser range finding device comprises an image processor configured to generate a composite image for each captured image, the composite image including a visual representation of the at least one laser pulse overlaid on the captured image using the mapping of the location of the at least one laser pulse. 
     The laser range finding device can also include a display configured to display the composite image. In addition, the laser range finding device can include a distance ranging calculator configured to, based on information associated with the emission and reflected energy of the at least one laser pulse, calculate a distance between a geographical location of the laser range finding device and a geographical location of the surface. Also, the laser range finding device can include a display configured to display the calculated distance on the composite image with the visual representation of the reflection. 
     The mapping processor of the laser range finding device can be further configured to determine a targeting reticle&#39;s coordinate with respect to the coordinate system of the captured image at the time of capturing the image, wherein the targeting reticle is used to aim the laser range finding device toward the target object. The mapping processor can also be configured to use the targeting reticle&#39;s coordinate as the coordinate of the location associated with the at least one laser pulse reflecting off the surface. 
     The camera of the laser range finding device can be further configured to detect and capture a representation of the at least one laser pulse reflecting off the surface. In addition, the mapping processor can be further configured to determine a coordinate of a location of the representation with respect to the coordinate system of the captured image. 
     The display can be further configured to display a selectable marking a user can select to designate that a source of the reflected energy corresponds to the surface of the target object. 
     The laser range finding device can further include a sensor configured to collect information corresponding to movement of the laser range finding device between the capture of at least two images. Also, the laser range finding device of claim can include a jitter processor configured to determine an offset between the coordinate systems of the at least two images using the collected information. The image processor can be further configured to generate an aggregated composite image of the at least two images using the determined offset between the at least two images. The laser range finding device can also include a display for displaying the aggregated composite image. 
     In another example, the mapping processor further includes an isolation module configured to isolating a region of interest associated with a first captured image of a sequence of captured images. Also, the mapping processor can include a comparison module configured to comparing the region of interest associated with the first captured image with at least one selected region of the second image to determine a difference between at least one image parameter associated with the region of interest associated with the first image and at least one image parameter associated with the at least one selected regions of the second image. The at least one selected regions of the second image is selected based on an estimated offset between the first captured image and the second captured image. The estimated offset associated with movement of the laser range finding corresponds to movement of the laser range finding device between the capture of the first captured image and immediately prior to the capture of the second captured image. The image processor is further configured to overlay one of the at least one selected region of the second image having the least difference between the at least one image parameter on the region of interest associated with the first captured image. 
     Another example embodiment of the present disclosure includes a non-transitory computer readable medium having computer readable program codes embodied thereon for determining a distance to a target object, the computer readable program codes including instructions that, when executed by a processor, cause the processor to map a location associated with at least one laser pulse reflecting off a surface to a coordinate corresponding to a coordinate system of a captured image. The surface is associated with at least the target object or another object in an area surrounding the target object. The captured image includes at least the target object and the area surrounding the target object. The program codes also cause the processor to generate a composite image for each captured image. The composite image includes a visual representation of the at least one laser pulse overlaid on the captured image using the mapping of the location of the at least one laser pulse reflecting off the surface. 
     Advantageously, the disclosed embodiments provide true hand-held range finding capabilities without requiring the use of stabilization assistance techniques. For instance, using hand-held range finding devices to range find an object in a field of view is difficult due to user-induced jitter. Range finding an object becomes even more difficult when the object is relatively small and/or far away from the range finding device. In particular, user-induced jitter introduces uncertainty as to which object in a field of view is actually ranged. Current approaches attempt to mitigate user-induced jitter by requiring a user to mount the hand-held range finding device onto a tripod. However, such approaches require the user to carry additional equipment. Embodiments of the present disclosure enable the user to visually confirm which object in a field of view is actually ranged during a range finding event by generating a composite image that includes a visual representation of a laser pulse emitted by the range finding device. By using such visual confirmation techniques, the disclosed embodiments provide true hand-held range finding capabilities without requiring the use of stabilization assistance techniques. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The foregoing will be apparent from the following more particular description of example embodiments of the present disclosure, as illustrated in the accompanying drawings in which like reference characters refer to the same parts throughout the different views. The drawings are not necessarily to scale, emphasis instead being placed upon illustrating embodiments of the present disclosure. 
         FIG. 1  is a schematic illustration of an environment in which a user utilizes a laser range finding device to determine the distance to a target object from the laser range finding device in accordance with an example embodiment of the present disclosure. 
         FIG. 2A  is an illustration of a coordinate system corresponding to a captured image in accordance with an example embodiment of the present disclosure. 
         FIG. 2B  is an illustration of a composite image displaying a visual representation of a laser pulse reflecting off a target object in accordance with an example embodiment of the present disclosure. 
         FIGS. 3A-B  are additional illustrations of composite images that display a visual representation of a laser pulse reflecting off a target object in accordance with an example embodiment of the present disclosure. 
         FIG. 3C  is an illustration of an aggregated composite image generated from the composite images of  FIGS. 3A-B . 
         FIGS. 3D-E  are illustrations of coordinate systems of respective composite images of  FIGS. 3A-B . 
         FIG. 4  is a flow diagram of a method for generating an aggregated composite image in accordance with an example embodiment of the present disclosure. 
         FIG. 5  is a block diagram of an example embodiment of a laser range finding device in accordance with an example embodiment of the present disclosure. 
         FIGS. 6A-C  are flow diagrams of a method for determining a distance of a target object in accordance with an example embodiment of the present disclosure. 
         FIG. 7  is a flow diagram of a method for mapping at least one laser pulse reflecting off a surface of an object in a captured image to a coordinate corresponding to a coordinate system of the captured image. 
     
    
    
     DETAILED DESCRIPTION 
     A description of example embodiments of the present disclosure follows. 
       FIG. 1  is a schematic illustration of an environment  100  in which a user  105  utilizes a laser range finding device  110  to determine the distance to a target object  120  in accordance with an example embodiment of the present disclosure. The laser range finding device  110  includes an in-sight field of view  140 . The field of view  140  presents a target area  155  to the user  105 . The field of view  140  can be viewed with a digital display or view finder. In this example, the field of view  140  includes an overlaid targeting reticle  145  used to aim the laser range finding device at the target object  120  (e.g., hostile soldier), another object  135  (e.g., a civilian), and/or trees  150   a - b.    
     In order to find the distance to the target object  120 , the user  105  activates a function on the laser range finding device  110  which causes the laser range finding device  110  to emit at least one laser pulse  130   a  toward the target object  120 . For instance, the user can depress a button  112  that fires a laser associated with the laser range finding device  110 . Example embodiments of the present disclosure can utilize lasers known in the art such as a MegaWatt ER200 sold by SPIE of Bellingham, Wash. and Kigre MK-85 sold by Kigre, Inc. of Hilton Head, S.C. Subsequently, the laser range finding device receives reflected energy  130   b  in response to the at least one laser pulse  130   a  reflecting off an object in the field of view  140  (e.g., the surface  125  of target object  120 ). 
     One form of laser range finding operates on the time of flight principle. Such devices estimate distance to object by measuring the time it takes for a laser pulse to travel to the object and return to the device after reflecting off the object. The distance is calculated based on d=ct/2, where ‘c’ is the speed of flight and T is the time it takes the laser pulse to travel to the object and return to the device. Other range finding technologies include interferometry and multiple frequency phase-shifting. 
     Also, the laser range finding device  110  includes a camera (e.g., camera  515  of  FIG. 5 ) that is configured to capture an image corresponding to the field of view  140 . In particular, the captured image includes the target object  120  and the area surrounding the target object  160 . In response to capturing the image corresponding to the field of view  140 , the laser range finding device  110  maps a location associated with the at least one laser pulse reflecting off the surface  125  to a coordinate corresponding to a coordinate system of the captured image. For example, the laser range finding device  110  analyzes the captured image and creates a coordinate system corresponding to the captured image. 
       FIG. 2A  illustrates a coordinate system  201  corresponding to a captured image. In the example illustrated in  FIG. 2A , the captured image is a two-dimensional image. The coordinate system  201  of the captured image includes an axis for each dimension of the captured image. In this example, the x-axis  202  and the y-axis  203  represent respective dimensions of the captured image. The laser range finding device  110  defines the coordinate system  201  of the captured image using any method known or yet to be known in the art. In an example, the laser range finding device  110  can use each pixel of the captured image as a point in the coordinate system  201 . The laser range finding device  110  then selects a point (e.g., a pixel) of the captured image and uses that point as the origin point of the coordinate system  201 . In this example, the bottom left pixel is designated as the origin point. Once the laser range finding device  110  selects the origin point each point (e.g., pixel) of the image has a coordinate with respect to the origin point. 
     The laser range finding device  110  then determines a coordinate (e.g., coordinate  204 ) corresponding to a location associated with the laser pulse reflecting of the surface  125  of, for example, the target object  120  with respect to the coordinate system  201  corresponding to the captured image. In one example, the laser range finding device  110  determines the targeting reticle&#39;s  145  coordinate  204  with respect to the coordinate system  201  of the captured image at the time of capturing the image. The laser range finding device  110  then uses the targeting reticle&#39;s coordinate as the coordinate of the location associated with the at least one laser pulse reflecting off the surface. 
     In another example, the camera utilized by the laser range finding device can be configured to detect the reflected energy  130   b . For example, the camera can include a sensor that is configured to sense a wavelength corresponding to the laser pulse that is emitted by the laser range finding device  110 . Using such a sensor, the camera is able to capture the reflected energy  130   b  that corresponds to the at least one laser pulse reflecting off the surface  125 , for example, of the target object  120  in the field of view  140 . The laser range finding device  110  then determines a coordinate (e.g., coordinate  204 ) of a location of the reflected energy  130   b  with respect to the coordinate system of the captured image. 
     As illustrated in  FIG. 2B , the laser range finding device  100  then generates a composite image  200  of the captured image. The composite image  200  includes a visual representation  203  of the at least one laser pulse overlaid on the captured image. The laser range finding device  110  overlays the visual representation  203  using the determined coordinate (e.g., coordinate  204 ) of the location reflected energy (e.g., reflected energy  130   b  of  FIG. 1 ) with respect to the coordinate system of the captured image. 
     In addition, the laser range finding device  110 , based on information associated with the emission and reflected energy of the at least one laser pulse, calculates a distance between a location (e.g., a geographical location) of the laser range finding device  110  and a location of the target object  120 . Also, the laser range finding device can display the calculated distance  208  on the composite image with the visual representation  203  of the reflected energy. 
     In an example, the laser range finding device  110  determines the distance to an object (e.g., target object  210 ) by collecting information associated with an emitted laser pulse and received reflected energy corresponding to the emitted laser pulse. In particular, the laser range finding device  110  determines a time of emission of the emitted laser pulse and a time of detection of the corresponding reflected energy. Based on the collected information, the laser range finding device  110  calculates a distance between the laser range finding device  110  and an object from which the reflected energy is received. For instance, the laser range finding device  110  determines a time difference between the time the laser pulse is emitted and the time the reflected energy is received. The laser range finding device  110  then multiplies the determined time difference by the speed of light, and divides by two to account for travel to and from the target, to calculate the value of the distance from the laser range finding device  110  to the object (e.g., target object  120 ). 
     In some embodiments, the user  105  can cause the laser range finding device  110  to initiate several laser range finding events (e.g., emissions of a laser pulse  130   a ). This can occur due to the user  105  depressing a button (e.g., the button  112  of  FIG. 1 ) corresponding to a function that activates a laser range finding event for an extended period of time. In another example, the user  105  can depress the button multiple times in order to cause multiple laser range finding events. In response to each laser range finding event, the laser range finding device  110  emits a laser pulse  130   a  and receives reflected energy  130   b  corresponding to the emitted laser pulse  130   a . In addition, the laser range finding device  110 , for each laser range finding event, captures an image of a scene in the field of view  140 . For each captured image, the laser range finding device  110  creates a composite image that includes a visual representation of reflected energy  130   b  corresponding to a laser range finding event associated with the captured image. 
     As stated above, in hand-held applications, the user  105  can introduce jitter between each laser range finding event (e.g., emitted laser pulse  130   a ). Thus, reflected energy  130   b  received by the laser range finding device  110  can correspond to different objects in the field of view  140  between each laser range finding event. Accordingly, for each laser range finding event, the laser range finding device  110  displays a different calculated distance. As such, the user  105  may wish to confirm which of the displayed calculated distances corresponds to an object of interest (e.g., target object  120 ). The user  105  may wish to confirm this information in order to, for example, accurately focus a camera or sight a gun. Current approaches to mitigate user introduced jitter do not enable the user  105  to confirm which of the displayed calculated distances corresponds to the object of interest. Rather, current approaches only attempt to mitigate user introduced jitter by providing stabilization techniques. For example, such approaches require the user  105  to utilize a stabilization device (e.g., a tripod). 
     Embodiments of the present disclosure enable the user  105  to visually confirm which object in a field of view is actually ranged during a laser range finding event. In particular, embodiments of the present disclosure generate a composite image that includes a visual representation of a laser pulse emitted by the range finding device reflecting off an object in the field of view. 
     For example,  FIGS. 3A-3B  illustrate composite image  301  and composite image  302  generated in response to two different laser range finding events. As illustrated, the composite images  301 ,  302  include visual representations  365   a - b . Each of the visual representations  365   a - b  correspond to two different objects from which reflected energy  130   b  is received by the laser range finding device  110  in each of two range finding events. 
     In an example, the laser range finding device  110  enables the user  105  to confirm which of the calculated distances corresponds to an object of interest to the user  105 . For instance, the laser range finding device  110  enables the user  105  to select one of the composite images  301 ,  302  that includes a visual representation corresponding to a location at which an emitted laser pulse reflects off an object an of interest to the user  105  in the field of view  140 . For instance, assuming an object of interest to the user  105  is object  320 , the user selects composite image  301  because the visual representation  365   a  indicates that reflected energy is received from a laser pulse reflecting off of the surface of the object  320 . Thus, a displayed calculated distance by the laser range finding device  110  associated with composite image  301  is an accurate distance between the user  105  and the object  320 . 
     In another example as illustrated in  FIG. 3C , the laser range finding device  110  displays an aggregated composite image  303  that combines the composite image  301  and the composite image  302 . The aggregated composite image  303  includes the visual representations  365   a - b  corresponding to the locations at which emitted laser pulses reflected off objects in the field of view  140 . The laser range finding device  110  can display selectable markings  366   a - b  associated with each of the visual representations  365   a - b . In response to the user  105  selecting one of the selectable markings  366   a - b , the laser range finding device  110  displays the calculated distance corresponding to the selectable marking  366   a - b  selected by the user  105 . In yet another example, the visual representations  365   a - b  are selectable. In this manner, the user is able to choose which of the visual representations  365   a - b  corresponds to a target in the aggregated composite image  303  is a target intended to be ranged by the user. The user can make said choice by selecting one of the selectable markings  365   a - b  or visual representations  365   a - b.    
     As stated above, in hand-held applications, the user  105  can introduce jitter between each laser range finding event (e.g., emitted laser pulse  130   a ). In order to facilitate the user&#39;s ability to visually confirm an accurate laser range finding event, the laser range finding device  110  generates an aggregate composite image (e.g., composite image  303  of  FIG. 3C ). The aggregated composite image  303  is an aggregation of at least two captured images. In particular, the laser range finding device  110  generates composite image  303  by determining an offset between the composite images  301 ,  302 . The determined offset corresponds to movement of the laser range finding device  110  between the laser range finding events corresponding to the composite images  301 ,  302 . 
       FIGS. 3D-E  are illustrations of coordinate systems of two different images having an offset between the coordinate systems due to movement of the laser range finding device  110 .  FIG. 3D  illustrates a coordinate system  304  corresponding to the image  301  of  FIG. 3A .  FIG. 3E  illustrates a coordinate system  305  corresponding to the image  302  of  FIG. 3B . As is illustrated in  FIG. 3D , the object  320  of the image  301  has a coordinate of (1, 2) with respect to the coordinate system  304  of the image  301 . Also, the object  335  of the image  301  has a coordinate of (2, 3). As is illustrated in  FIG. 3E , the object  320  has a coordinate of (0, 1) and the object  335  has a coordinate of (1, 2) with respect to the coordinate system of the image  302 . In order for the laser range finding device  110  to generate the aggregated composite image  303 , the laser range finding device  110  must determine an offset between the coordinate system  304  and the coordinate system  305  of respective images  301 ,  302 . A comparison of the two coordinate systems  304 ,  305  shows that the coordinate system  305  of image  302  has an offset of (−1, −1) with respect to the coordinate systems  304  of image  301 . Object  320  is positioned at coordinate (1, 2) in  FIG. 3D  and at coordinate (0, 1) in  FIG. 3E  (offset=(0, 1)−(1, 2)=(−1, −1). Based on information of the offset, the laser range finding is able to generate composite image  303 . In an example, the laser range finding device  110  overlays image  302  on top of image  301  using the offset information. The laser range finding device can determine the offset as described herein. 
     In one example, the laser range finding device  110  can include a sensor (e.g., sensor  570  of  FIG. 5 ) configured to collect information corresponding to movement of the laser range finding device between each laser range finding event (e.g., the capture of at least two images). Using the collected information, the laser range finding device  110  determines an offset between the coordinate systems of the composite images  301 ,  302 . In response to determining the offset, the laser range finding device  110  generates the aggregated composite image  303 . 
     In another example, the laser range finding device  110  determines the offset between the coordinate systems of the composite images  301 ,  302  using imaging processing.  FIG. 4  is a flow diagram of a method  400  for generating an aggregated composite image (e.g., composite image  303  of  FIG. 3C ). At  405 , the method begins. At  410 , a mapping processor (e.g., mapping processor of  FIG. 5 ) of the laser range finding device  110  isolates a region of interest associated with a first captured image of a sequence of captured images. For example, the mapping processor isolates a region of interest of a captured image corresponding to composite image  301  of  FIG. 3A . The region of interest can be, for example, a region of the field of view  140  surrounding a center of the targeting reticle  145 . At  415 , the mapping processor selects at least one region of a second image (e.g., a captured image corresponding to composite image  302  of  FIG. 3B ) of the sequence of images based on an estimated offset between the first captured image and the second captured image. As stated above, the offset between the images is generally due to movement of the laser range finding device  110  between laser range finding events. The movement of the laser range finding device is due to user-induced jitter. The estimated offset can be determined based on empirical data of typical user-induced jitter. For example, in a two dimensional coordinate system, empirical data can indicate that typical user-induced jitter is within a threshold distance from an origin point of the coordinate system corresponding to the first captured image. 
     At  420 , the mapping processor compares the region of interest associated with the first captured image with each of the selected regions of the second image to determine a difference between at least one image parameter (e.g., color and intensity of an image pixel) associated with the region of interest of the first captured image and at least one image parameter associated with each of the selected regions of the second image. For example, the mapping processor compares the region of interest of the first captured image to each region of the second image within the threshold distance from an origin point of a coordinate system corresponding to the second captured image. 
     At  425 , the mapping processor overlays one of the selected regions of the second image having a least difference between the at least one image parameter on the region of interest associated with the first captured image. At  430 , the method ends. 
       FIG. 5  is a block diagram of an example embodiment of a laser range finding device  510  that includes a laser emitter  512 , camera  515 , laser reflection receiver  520 , distance ranging calculator  530 , mapping processor  540 , sensor  570 , jitter processor  560 , image processor  550 , and display  580 . 
     In response to a user (e.g., user  105  of  FIG. 1 ) of the laser range finding device  510  initiating a laser range finding event, the laser emitter  512  emits at least one laser pulse (e.g., laser pulse  130   a  of  FIG. 1 ) toward a target object (e.g., an object of interest in the field of view  140  of  FIG. 1 ). In addition, the laser emitter  512  provides an indication to the laser reflection receiver  520  of the emission of the laser pulse. The laser reflection receiver  520  then receives reflected energy (e.g., reflected energy  130   b  of  FIG. 1 ) in response to the emitted laser pulse reflecting off a surface of an object in the field of view. Contemporaneous to the laser pulse emission, the camera  515  captures an image of, for example, the field of view  140  of  FIG. 1 . In particular, the camera captures the field of view that includes a target object (e.g., object  120  of  FIG. 1 ) and the area surrounding the target object (e.g., area  160  of  FIG. 1 ). 
     The distance ranging calculator  530  receives information associated with the emitted laser pulse and the received reflected energy corresponding to the emitted laser pulse. Based on the information associated with the emission and reflected energy of the at least one laser pulse, the distance ranging calculator  530  calculates the distance between a location of the laser range finding device  110  and an object from which the reflected energy is received. 
     The mapping processor  540  also receives the information associated with the emitted laser pulse and the received reflected energy corresponding to the emitted laser pulse. In addition, the mapping processor  540  receives the image(s) captured by the camera  515 . 
     Using the received data, the mapping processor maps a location associated with the emitted laser pulse reflecting off an object to a coordinate system of the captured image. 
     In one example, the mapping processor  540  determines a targeting reticle&#39;s coordinate with respect to the coordinate system of the captured image at the time of capturing the image. The mapping processor  540  then uses the targeting reticle&#39;s coordinate as the coordinate of the location associated with the at least one laser pulse reflecting off the surface. 
     In another example, the camera  515  is configured to detect and capture the reflected energy corresponding to the emitted laser pulse reflecting off an object in the field of view of the laser range finding device  510 . The mapping processor  540  then determines a coordinate of the location of the reflected energy with respect to the coordinate system of the captured image. 
     Using information derived by the mapping processor  540  as described above, the image processor  550  generates a composite image for each captured image. The generated composite image includes a visual representation of the laser pulse overlaid on the captured image using the mapping of the location of the laser pulse. 
     As stated above, the user  105  can cause the laser range finding device  510  to initiate multiple range finding events. However, between each laser range finding event, the laser range finding device  510  can move, due to user-induced jitter, platform movement if the device is in or on a vehicle, or other sources of movement. The sensor  570  collects information corresponding to movement of the laser range finding device between the capture of at least two images corresponding to different range finding events. The sensor  570  passes the collected information to the jitter processor  560 . The jitter processor  560  determines an offset between the coordinate systems of the at least two images using the collected information. The image processor  550 , using the offset information, then generates an aggregated composite image of the at least two captured images. 
     In another example, mapping processor  540  includes an isolation module  542  and a comparison module  543  to determine an offset between the coordinate systems of the at least two images. The isolation module  542  isolates a region of interest associated with a first captured image of a sequence of captured images. The comparison module  543  compares the region of interest associated with the first captured image with at least one selected region of the second image to determine a difference between at least one image parameter associated with the region of interest associated with the first image and each of the selected regions of the second image. 
     The image processor  550  then overlays the selected region of the second image having a least difference between the at least one image parameter on the region of interest associated with the first captured image. 
     The display  580  then receives image date from the image processor  550  and displays the composite image/aggregated composite image. Also, the display  580  displays calculated distance as calculated by the distance ranging calculator  530  on the composite image with the visual representation of the reflected energy. Further, the display  580  can display a selectable marking a user can select to designate that a source of the reflected energy corresponds to the surface of the target object. 
       FIGS. 6A-C  are flow diagrams of a method  600  for determining the distance of a target object. At  605 , the method  600  begins. At  610 , a laser range finding device (e.g., laser range finding device  110  of  FIG. 1 ) emits at least one laser pulse (e.g., the laser pulse  130   a  of  FIG. 1 ) toward a target object (e.g., an object of interest to user  105  of  FIG. 1 ). Subsequent to emitting each of the at least one laser pulse, at  615 , the laser range finding device receives reflected energy in response to the emitted laser pulse reflecting off a surface of either the target object or another object surrounding the target object. For each emitted laser pulse, at  630 , the laser range finding device captures an image that includes the target object and the area surrounding the target object. Also, the laser range finding device, at  625 , maps a location associated with the at least one laser pulse reflecting off the surface to a coordinate corresponding to a coordinate system of the captured image. At  630 , the laser range finding device calculates a distance between a location of the laser range finding device and the surface of one of the objects. At  635 , the laser range finding device generates a composite image (e.g., composite images  301 ,  302  of  FIG. 3 ) for each captured image. The generated composite image includes a visual representation of the at least one laser pulse overlaid on the captured image using the mapping of the location of the at least one laser pulse. 
     At  640 , the laser range finding device determines if multiple images are captured (i.e., if the laser range finding device emitted several laser pulses). If not, at  645 , the laser range finding device displays the composite image with the calculated distance. If multiple images are captured, at  650 , the laser range finding device determines an offset between at least two of the captured images. The laser range finding device determines the offset by, for example, using a sensor (e.g., sensor  570  of  FIG. 5 ). Also, the laser range finding device can determine the offset using image processing, for example, as described in the description above of the flow diagram illustrated in  FIG. 4 . Using the determined offset, the laser range finding device, at  655 , generates an aggregated composite image of the at least two images. At  665 , the method ends. 
       FIG. 7  is a flow diagram of a method  700  for mapping a location associated with at least one laser pulse reflecting off a surface of an object in a captured image to coordinate corresponding to a coordinate system of the captured image. At  705 , the method begins. At  708 , a mapping processor (e.g., the mapping processor  540  of  FIG. 5 ) of a laser range finding device (e.g., laser range finding device  510  of  FIG. 5 ) determines whether a camera (e.g., camera  515  of  FIG. 5 ) is configured to detect/capture reflected energy corresponding to an emitted laser pulse reflecting off an object. 
     If not, at  710 , mapping processor determines a targeting reticle&#39;s (e.g., targeting reticle  145  of  FIG. 1 ) coordinate with respect to the coordinate system of the captured image. The mapping processor, at  715 , then uses the targeting reticle&#39;s coordinate as the location associated with the laser pulse reflecting off the object in the coordinate system of the captured image. 
     If, on the other hand, the mapping processor determines that the camera is configured to detect/capture the reflected energy, at  720 , the mapping processor analyzes the image to determine the location of the reflected energy with respect to a coordinate system of the captured image. At  725 , the method ends. 
     Further example embodiments of the present disclosure can be configured using a computer program product; for example, controls can be programmed in software for implementing example embodiments of the present disclosure. Further example embodiments of the present disclosure can include a non-transitory computer readable medium containing instruction that can be executed by a processor, and, when executed, cause the processor to complete methods described herein. It should be understood that elements of the block and flow diagrams described herein can be implemented in software, hardware, firmware, or other similar implementation determined in the future. In addition, the elements of the block and flow diagrams described herein can be combined or divided in any manner in software, hardware, or firmware. If implemented in software, the software can be written in any language that can support the example embodiments disclosed herein. The software can be stored in any form of computer readable medium, such as random access memory (RAM), read only memory (ROM), compact disk read only memory (CD-ROM), and so forth. In operation, a general purpose or application specific processor loads and executes software in a manner well understood in the art. It should be understood further that the block and flow diagrams can include more or fewer elements, be arranged or oriented differently, or be represented differently. It should be understood that implementation can dictate the block, flow, and/or network diagrams and the number of block and flow diagrams illustrating the execution of embodiments of the disclosure 
     While this present disclosure has been particularly shown and described with references to example embodiments thereof, it will be understood by those skilled in the art that various changes in form and details can be made therein without departing from the scope of the present disclosure encompassed by the appended claims.