Progress on Target and Terrain Recognition Research at Colorado State University.

: A target recognition capability is described which performs: color detection, target type and pose hypothesis generation, and target verification by 3D alignment of target models to range and optical imagery. The term coregistration' is introduced to describe target, range and optical sensor alignment. The following key verification components are described and demonstrated: target-model feature extraction, model-driven edge detection, range, optical and target coregistration, and coregistration space matching. As a precursor to future incorporation of terrain data, the ability to match terrain features to imagery from the UGV Demo C test site is demonstrated.