| Title |
Extended FOV based Fast Algorithm for Real-time Target Detection of 3D LADAR System |
| Authors |
이진섭(Jinseop Lee) ; 김헌기(Hunki Kim) ; 김병학(Byeonghak Kim) ; 이현정(Hyunjeong Lee) |
| DOI |
https://doi.org/10.5573/ieie.2019.56.8.59 |
| Keywords |
Real time; 3D LADAR; Target detection; 3D Sensor; LiDAR; Extended FOV |
| Abstract |
In this paper, the extended field of view (EFOV) based fast algorithm for real-time target detection using 3D laser radar (LADAR) was proposed. First, detected 3D data stored in memory as divided units following the LADAR scan angle at the time of the background acquisition. It can be reducing calculation time by loaded region data from the background map corresponding to the target positions at the time of detection. To maintain the performance of the detection algorithm during the process for importing 3D data, the EFOV method is applied with an extension of the background region being loaded. For faster processing time than original EFOV method, the exception processes and reduced EFOV are additionally proposed. In the experimental result section, we shows that the measurement results of improved real-time performance by the proposed methods, and processing times compare with conventional methods are shown as quantitative values using a real-time 3D LADAR system. |