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.

Abstract: A method (300) for comparison of point data to detailed CAD models of known targets. The method comprises the acts of receiving a CAD model space (302); storing the received CAD model space in a three-dimensional voxel array (304); computing, for each voxel in the array, a distance to a closest surface facet (306); and storing information in a hybrid PolyVox file (310) comprising both voxel and polygonal representations of the point data stored therein. The method is practiced with an information processing system (200) such as a microprocessor powered computer. The method can also be implemented as a software product executed by a programmable general purpose computer apparatus, such as the one discussed above; or as a set of machine executable instructions embedded in a semiconductor memory; or as a special-purpose processing device or application-specific integrated circuit (ASIC).

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.