A Novel Multimodal Fusion Framework Based on Point Cloud Registration for Near-Field 3D SAR Perception

This study introduces a pioneering multimodal fusion framework to enhance near-field 3D Synthetic Aperture Radar (SAR) imaging, crucial for applications like radar cross-section measurement and concealed object detection. Traditional near-field 3D SAR imaging struggles with issues like target-background confusion due to clutter and multipath interference, shape distortion from high sidelobes, and lack of color and texture information, all of which impede effective target recognition and scattering diagnosis. The proposed approach presents the first known application of multimodal fusion in near-field 3D SAR imaging, integrating LiDAR and optical camera data to overcome its inherent limitations. The framework comprises data preprocessing, point cloud registration, and data fusion, where registration between multi-sensor data is the core of effective integration. Recognizing the inadequacy of traditional registration methods in handling varying data formats, noise, and resolution differences, particularly between near-field 3D SAR and other sensors, this work introduces a novel three-stage registration process to effectively address these challenges. First, the approach designs a structure-intensity-constrained centroid distance detector, enabling key point extraction that reduces heterogeneity and accelerates the process. Second, a sample consensus initial alignment algorithm with SHOT features and geometric relationship constraints is proposed for enhanced coarse registration. Finally, the fine registration phase employs adaptive thresholding in the iterative closest point algorithm for precise and efficient data alignment. Both visual and quantitative analyses of measured data demonstrate the effectiveness of our method. The experimental results show significant improvements in registration accuracy and efficiency, laying the groundwork for future multimodal fusion advancements in near-field 3D SAR imaging.