Date of Award


Degree Type


Degree Name

Master of Science (MS)


Electrical and Computer Engineering

Committee Chair(s)

Robert T. Pack


Robert T. Pack


Scott E. Budge


Paul Israelsen


Rees Fullmer


A second prototype integrated lidar/Electro Optical (EO) camera, or 3D Texel™ camera, has been developed by Utah State University (USU) Center for Advanced Imaging Ladar (CAIL) that collocates, both temporally and spatially, a CMOS digital camera readout with a time-of-flight pulsed lidar1. The first prototype uses a flying spot lidar with a double gimbal whereas this prototype uses a single gimbal and rotating mirror. The selection and design of the second prototype hardware components: lidar, EO camera, computer, synchronization box, power source (AC to DC and battery box) and battery charger is discussed and compared with the first prototype. The new software used for scanning and tiling called LDScanner™ and LDImager™, developed in conjunction with RappidMapper Inc., Salt Lake City Utah, is explained. Based on the operator input, LDScanner™ initializes the hardware components, sets them up for scanning, conducts the scan and analyzes the data files. LDImager™ takes the lidar and EO camera files and converts them into image files for 3D viewing. LDImager™ also allows the operator to analyze preprocessed data files from the 3D Texel™ camera and create a histogram of the processed image. The EO requirements to control the region of interest (ROI), set cameraproperties, trigger the camera and set the file format are discussed. Third party toolkits including the EO camera manufacturer’s demo program and Carnegie Melon University’s (CMU) demo program were considered to implement EO requirements. The requirements ended up being implemented using a modified CMU demo program. The software created in the modified CMU demo program and the CMU1394.dll functions were made accessible through calls to the Camera.dll wrapper. The functions exposed through the wrapper were also used to construct a Camera Image dialog box. This dialog box displays the real time EO image and histogram. It also allows the operator to adjust the shutter speed, gain, brightness, white balance and select the scan azimuth extents.


This work made available publicly available electronically on December 20, 2010.