A method to test the fidelity of a depth-imaging camera to depth-change abruptness of an imaged subject includes digitally generating, with the depth-imaging camera, a machine-readable calibration depth image of a calibration subject arranged in a field of view of the depth-imaging camera. The method includes machine processing the calibration depth image in a spatial domain to obtain a machine-readable measure of the fidelity in the spatial domain, and machine processing the measure of the fidelity in the spatial domain to obtain a measure of the fidelity in a frequency domain.

Depth-spatial frequency-response assessment

th Generation Flash Ladar system which produces real-time, 3-dimensional (3D) video in all lighting conditions has been demonstrated to be a significant enabler to enhance the mission capabilities of Unmanned Aerial Vehicles (UAVs). These new capabilities include enhanced Intelligence, Reconnaissance and Surveillance (ISR), Automated Target Recognition (ATR), improved situational awareness, GPS denied (terrain relative) navigation, 3D surface mapping, surface change detection (detection of buried improvised explosive devices), camouflage penetration, autonomous aerial refueling and autonomous landing. Ball Aerospace 5 th Generation Flash Ladar system has benefited from over 6 years of development, is compact, modular, and has been demonstrated to be easily integrated and flight-tested on both fixed-wing and rotorcraft with different optical configurations. This paper presents the results of airborne test activities and sample imagery of our 5 th Generation system and discusses options for repackaging and integrating the system into UAV platforms. I. Introduction all Aerospace has significant experience in providing ladar systems for remote sensing applications. NASA’s CALIPSO lidar was built by Ball and has celebrated a number of operational milestones, including an extension of the 3-year initial mission lifetime and over 1 billion laser firings and associated atmospheric measurements. Further, Ball Aerospace is developing the flash ladar navigation system for NASA’s space exploration missions. These programs leverage Ball’s extensive understanding of ladar systems, real time image processing algorithms, guidance, navigation and control algorithms, laser system engineering, and the phenomenology being exploited. 1

Flash Ladar Flight Testing and Pathway to UAV Deployment

3D imaging LADARs have emerged as the key technology for producing high-resolution imagery of targets in 3-dimensions (X and Y spatial, and Z in the range/depth dimension). Ball Aerospace & Technologies Corp. continues to make significant investments in this technology to enable critical NASA, Department of Defense, and national security missions. As a consequence of rapid technology developments, two issues have emerged that need resolution. First, the terminology used to rate LADAR performance (e.g., range resolution) is inconsistently defined, is improperly used, and thus has become misleading. Second, the terminology does not include a metric of the system’s ability to resolve the 3D depth features of targets. These two issues create confusion when translating customer requirements into hardware. This paper presents a candidate framework for addressing these issues. To address the consistency issue, the framework utilizes only those terminologies proposed and tested by leading LADAR research and standards institutions. We also provide suggestions for strengthening these definitions by linking them to the well-known Rayleigh criterion extended into the range dimension. To address the inadequate 3D image quality metrics, the framework introduces the concept of a Range/Depth Modulation Transfer Function (RMTF). The RMTF measures the impact of the spatial frequencies of a 3D target on its measured modulation in range/depth. It is determined using a new, Range-Based, Slanted Knife-Edge test. We present simulated results for two LADAR pulse detection techniques and compare them to a baseline centroid technique. Consistency in terminology plus a 3D image quality metric enable improved system standardization.

A range/depth modulation transfer function (RMTF) framework for characterizing 3D imaging LADAR performance

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A range/depth modulation transfer function (RMTF) framework for characterizing 3D imaging LADAR performance