We explore the problem of in-plane rotation-invariance existing in the vertical detection of laser radar （Ladar） using the algorithm of spin-image surface matching. The method used to recognize the target in the range imagery of Ladar is time-consuming, owing to its complicated procedure, which violates the requirement of real-time target recognition in practical applications. To simplify the troublesome procedures, we improve the spin-image algorithm by introducing a statistical correlated coeff^cient into target recognition in range imagery of Ladar. The system performance is demonstrated on sixteen simulated noise range images with targets rotated through an arbitrary angle in plane. A high efficiency and an acceptable recognition rate obtained herein testify the validity of the improved algorithm for practical applications. The proposed algorithm not only solves the problem of in-plane rotation-invariance rationally, but also meets the real-time requirement. This paper ends with a comparison of the proposed method and the previous one.
