Abstract: A geospatial modeling system may include a geospatial model database and a processor cooperating with the geospatial model database. The processor may be configured to determine void regions in a geospatial data set including foliage data points and bare earth data points, where each void region has a boundary and at least one bare earth data point therein. The processor may also be configured to inpaint additional bare earth data points into each void region based upon bare earth data points outside the boundary and the at least one bare earth data point therein.

Abstract: Method for providing a color representation of three-dimensional range data (200) for improved visualization and interpretation. The method also includes selectively determining respective values of the hue (402), saturation (404), and intensity (406) in accordance with a color map (FIG. 5, 6) for mapping the hue, saturation, and intensity to an altitude coordinate of the three-dimensional range data. The color map is defined so that values for the saturation and the intensity have a first peak value at a first predetermined altitude approximately corresponding to an upper height limit (308) of a predetermined target height range (306). Values defined for the saturation and the intensity have a second peak at a second predetermined altitude (310) corresponding to an approximate anticipated height of tree tops within a natural scene.

Abstract: Method (300) for registration of n frames 3D point cloud data. Frame pairs (200i, 200j) are selected from among the n frames and sub-volumes (702) within each frame are defined. Qualifying sub-volumes are identified in which the 3D point cloud data has a blob-like structure. A location of a centroid associated with each of the blob-like objects is also determined. Correspondence points between frame pairs are determined using the locations of the centroids in corresponding sub-volumes of different frames. Thereafter, the correspondence points are used to simultaneously calculate for all n frames, global translation and rotation vectors for registering all points in each frame. Data points in the n frames are then transformed using the global translation and rotation vectors to provide a set of n coarsely adjusted frames.

Abstract: Method (300) for registration of two or more of frames of three dimensional (3D) point cloud data (200-i, 200-j). A density image for each of the first frame (frame i) and the second frame (frame j) is used to obtain the translation between the images and thus image-to-image point correspondence. Correspondence for each adjacent frame is determined using correlation of the ‘filtered density’ images. The translation vector or vectors are used to perform a coarse registration of the 3D point cloud data in one or more of the XY plane and the Z direction. The method also includes a fine registration process applied to the 3D point cloud data (200-i, 200-j). Corresponding transformations between frames (not just adjacent frames) are accumulated and used in a ‘global’ optimization routine that seeks to find the best translation, rotation, and scale parameters that satisfy all frame displacements.

Abstract: A method compares point data to detailed CAD models of known targets. The method includes the acts of receiving a CAD model space, storing the received CAD model space in a three-dimensional voxel array, computing, for each voxel in the array, a distance to a closest surface facet, and storing information in a hybrid PolyVox file having both voxel and polygonal representations of the point data stored therein. The method uses an information processing system such as a microprocessor powered computer. The method can also use a software product executed by a programmable general purpose computer, a set of machine executable instructions embedded in a semiconductor memory, or a special-purpose processing device or application-specific integrated circuit.

Abstract: A method comprises loading LADAR point data into a three-dimensional voxel array as a plurality of components (304); determining connected components in the array (306); determining a size for each component and a hit count of occupied voxels (316); and determining whether each occupied voxel is to be written to an output file (312), wherein occupied voxels are written (312) to the output file according to a set of criteria based on statistics for determining when a voxel represents a light pulse reflected by a physical object.