Discrete range clustering using Monte Carlo methods

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For automatic obstacle avoidance guidance during rotorcraft low altitude flight a reliable model of the nearby environment is needed. Such a model may be constructed by applying surface fitting techniques to the dense range map obtained by active sensing using radars. However, for covertness passive sensing techniques using electro-optic sensors is desirable. As opposed to the dense range map obtained via active sensing, passive sensing algorithms produce reliable range at sparse locations and, therefore, surface fitting techniques to fill the gaps in the range measurement are not directly applicable. Both, for automatic guidance and as a display for aiding the pilot, these discrete ranges need to be grouped into sets which correspond to objects in the nearby environment. The focus of this paper is on using Monte Carlo methods for clustering range points into meaningful groups. We compare three different approaches and present results of application of these algorithms to an image sequence acquired by onboard cameras during a helicopter flight. Starting with an initial grouping, these algorithms are iteratively applied with a new group creation algorithm to determine the optimal number of groups and the optimal group membership. The results indicate that the simulated annealing methods do not offer any significant advantage over the basic Monte Carlo method for this discrete optimization problem.