Abstract: A method employing fuzzy logic for identifying a detected object in LADAR data is disclosed. The method includes extracting a feature of the object; determining a confidence level in the extracted feature; comparing the extracted feature to a corresponding feature of a potential identification using a fuzzy logic process, and identifying the object. The comparison includes weighting at least one rule according to the confidence level in the extracted feature employed by the rule; shifting a membership function for the extracted feature responsive to the confidence level for the extracted feature; and executing the fuzzy logic process to obtain an indication of whether the segmented object corresponds to the potential identification.

Abstract: A system for transforming a first 3-D image of a target scene obtained from reflected energy signals to create a second 3-D image from a different perspective. In an illustrative embodiment, the original image includes multiple data elements stored in addresses of a row-column array, where each data element comprises a range and an intensity value corresponding to a point in the target scene. Each data element may be addressed by selecting its row and column numbers. To create the new image, each data element's row-column address is first converted into a spherical coordinate. The spherical coordinate is then converted into a 3-D Cartesian coordinate, and the Cartesian coordinate is translated and rotated to achieve the new perspective. The translated, rotated, Cartesian coordinate is then converted back into a spherical coordinate, and then into row-column format. Then, the contents of each data element of the original array are stored in the new array, in the newly calculated address.

Abstract: An improved system for using reflected energy signals sensed by light detecting optics to identify flat surfaces that are orthogonal to the detecting optics. A light source generates a laser light beam, the beam is scanned across a target scene, and a reflected signal is sensed by light detecting optics to produce an electrical representation of the reflected signal. The representation is stored in an array in the form of a plurality of data elements. The data elements are sequentially analyzed by comparing the range of each data element with the ranges of a selected number of neighboring elements, and giving the data element under analysis a corresponding "index." Data elements whose ranges closely match neighboring data elements are assigned higher indices. Neighboring data elements with high indices therefore signify proximate points on a flat surface, which is orthogonal to the detecting optics.