Terrain classification of ladar data over Haitian urban environments using a lower envelope follower and adaptive gradient operator

摘要

In response to the 2010 Haiti earthquake, the ALIRT ladar system was tasked with collecting surveys to support disaster relief efforts. Standard methodologies to classify the ladar data as ground, vegetation, or man-made features failed to produce an accurate representation of the underlying terrain surface. The majority of these methods rely primarily on gradient- based operations that often perform well for areas with low topographic relief, but often fail in areas of high topographic relief or dense urban environments. An alternative approach based on a adaptive lower envelope follower (ALEF) with an adaptive gradient operation for accommodating local slope and roughness was investigated for recovering the ground surface from the ladar data. This technique was successful for classifying terrain in the urban and rural areas of Haiti over which the ALIRT data had been acquired.