Patent ID: 7164787

Claim:
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, wherein said rendered contrast image data comprises 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; and applying a histogram clip routine to said fifth interim contrast image data, wherein enhanced contrast image data is created.