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A novel multi-scale operator for unorganized 3D point clouds is introduced. The Difference of Normals (DoN) provides a computationally efficient, multi-scale approach to processing large unorganized 3D point clouds. The application of DoN in the multi-scale filtering of two different real-world outdoor urban LIDAR scene datasets is quantitatively and(More)
Potential Well Space Embedding (PWSE) has been shown to be an effective global method to recognize segmented objects in range data. Here Local PWSE is proposed as an extension of PWSE. LPWSE features are generated by iterating ICP to the local minima of a multiscale registration model at each point. The locations of the local minima are then used to(More)
Advances in LiDAR acquisition are providing high-resolution data of urban environments from the street perspective. In contrast to lidar acquisition from an aerial platform, mobile terrestrial lidar (MTL) captures the richness of urban space as it relates to social, economic and transportation uses and behavior at larger scales. However, with high(More)
Terrain visibility analysis is a challenging task that is currently supported by complex digital tools with cumbersome interfaces. In this paper, we present TerraGuide, a novel multi-surface environment for exploratory terrain analysis. TerraGuide provides three tightly coupled displays including a real-time viewshed, a 3D panoramic view, and a helicopter(More)
In military operations the presence of civilians has become the rule rather than the exception. The contemporary operations environment involves constant contact between military units and local populations. It is therefore necessary that the <i>human terrain</i> be properly represented in the synthetic environments used for military training and(More)
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