Threat Detection and Tracking using 3D FLASH LADAR Data

Laser-based 3D sensors measure range with high accuracy and allow for detection of objects behind various type of occlusion, e. g., tree canopies. Range information is valuable for detection of small objects that are typically represented by 5-10 pixels in the data set. Range information is also valuable in tracking problems when the tracked object is occluded under parts of its movement and when there are several objects in the scene. In this paper, on-going work on detection and tracking are presented. Detection of partly occluded vehicles is discussed. To detect partly occluded objects we take advantage of the range information for removing foreground clutter. The target detection approach is based on geometric features, for example local surface detection, shadow analysis and height-based detection. Initial results on tracking of humans are also presented. The benefits with range information are discussed. Results are illustrated using outdoor measurements with a 3D FLASH LADAR sensor and a 3D scanning LADAR.