The synergistic combination of ladar and infrared information allows segmentation of images of real scenes containing objects in the presence of clutter. Log-transformed range gradients from the ladar image are subjected to a threshold test and then processed through a nearest-neighbor filter to segment the images. The combination of processed ladar and forward-looking infrared images subsequently can be used for object identification. Analysis of the range-gradient-based segmentation method is given, and results are shown.
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Rogers et al. (1989) studied this question.