Factor graph methods for three-dimensional shape reconstruction as applied to LIDAR imaging

Two methods based on factor graphs for reconstructing the three-dimensional (3D) shape of an object from a series of two-dimensional images are presented. First, a factor graph model is developed for image segmentation to obtain silhouettes from raw images; the shape-from-silhouette technique is then applied to yield the 3D reconstruction of the object. The second method presented is a direct 3D reconstruction of the object using a factor graph model for the voxels of the reconstruction. While both methods should be applicable to a variety of input data types, they will be developed and demonstrated for a particular application involving the LIDAR imaging of a submerged target. Results from simulations and from real LIDAR data are shown that detail the performance of the methods.