Abstract: A novel data processing technique is provided for employing a physical model as an element in a process for automatic target detection of a target viewed by an imaging lidar system. The present invention obtains estimates for the mean and variance of the probability distributions for random video levels which are output from a camera. These estimates are obtained under various assumptions about the state of the target.

Abstract: A novel data processing technique is provided for detecting, locating and identifying targets from a plurality of images generated by an imaging sensor such as an imaging lidar system. The present invention employs physical models of signals produced by target objects of interest. Such a model based detection system globally processes frames of data to determine the existence and location of component elements that characterize the target being modeled.

Abstract: A novel timing control method is utilized in conjunction with an imaging lidar system of the type disclosed in U.S. Pat. No. 4,862,257. This novel timing control is employed in applications wherein the lidar system is mounted on an airborne platform. The timing control method of this invention completely eliminates the glint detector with associated signal conditioner used in the system of U.S. Pat. No. 4,862,257, and instead, relies upon a signal derived from the aircraft altimeter to continually provide platform altitude status. Since the entire system is under the control of a computer, the altimeter signal can be interpreted and used to adjust total delay so as to automatically track changing platform altitude. It is now possible to initiate all timing from the occurrence of the laser "lamp fire" signal. The total delay to camera "gate on" is now the "lamp-to-laser" delay, plus round trip platform altitude delay (computer from the altimeter signal), plus desired water depth delay, less system delays.