Object extraction from laser radar imagery

Sei Wang Chen*, Anil K. Jain

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

6 Citations (Scopus)


A procedure for extracting objects present in imagery taken by the fieldable laser radar transceiver (FLRT) is reported. The laser radar imagery of a scene is composed of a registered pair of range and intensity images. Range images are first normalized in order to recover shape distortion due to the inherent effect of the ellipse-like coordinate system of the FLRT sensor. The normalized images are then smoothed using a median operator followed by a histogram-based filter to further remove outliers of noise. Afterwards, objects can be extracted from the images by removing the backgrounds of scenes. Extracted objects are then separated according to their range values into individual objects. Finally, by referring to the registered intensity images, some non-target objects can be discovered and be removed a priori.

Original languageEnglish
Pages (from-to)587-600
Number of pages14
JournalPattern Recognition
Issue number6
Publication statusPublished - 1991


  • Background removal
  • Fieldable laser radar transceiver
  • Object extraction
  • Range normalization

ASJC Scopus subject areas

  • Software
  • Signal Processing
  • Computer Vision and Pattern Recognition
  • Artificial Intelligence


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