Method and apparatus for lidar target identification and pose estimation

Abstract

The present invention pertains to the identification of a set of measurement data, using an a priori model database, which is then used in the determination of a pose solution using LADAR data. In particular, a model database of a target scene is created. The model database includes location information for a plurality of points within the target scene, and separation distances between sets of those points defining triangles. LADAR data obtained from a target scene is processed to extract features. Location information and separation distances between sets of extracted features defining triangles are placed in a measurement database. Separation distances contained in the measurement database are compared to separation distances contained in the model database. If a match is found, a rotation quaternion and translation vector are calculated, to transform the data in the measurement database into the frame of reference of the data in the model database. The rotation quaternion and translation vector can be applied to additional sets of data defining additional triangles, to verify that the target scene has been correctly identified. A pose solution and range can then be output.