Fusion of multi-spectral and range image data

摘要

Methods and apparatus for capturing and processing images, the images being of an area of terrain (6), the methods comprising: using each of a plurality of cameras (14, 16, 18, 20), capturing an image of the area of terrain (6) thereby producing a plurality of camera images, each camera image comprising a plurality of pixels; registering the camera images, thereby producing a plurality of sets of registered pixels; classifying each set of registered pixels; using a range sensor (8), capturing a range image (24) of the area of terrain (6); performing a detection algorithm on the range image (24) to detect an object or terrain feature (26) in the range image; registering the range image (24) with a camera image; and associating the detected object or terrain feature (26) with at least one classified set of registered pixels (28, 30).