Segmentation Of Range Images Using Simple Differential-Geometric Features

Raghu J. Krishnapuram; Anasua Munshi

doi:10.1117/12.960320

27 March 1989 Segmentation Of Range Images Using Simple Differential-Geometric Features

Raghu J. Krishnapuram, Anasua Munshi

Proceedings Volume 1002, Intelligent Robots and Computer Vision VII; (1989) https://doi.org/10.1117/12.960320
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States

Abstract

Although range images are similar to intensity images in some respects, there are some important differences. For example, traditional edge operators used in intensity images can detect occluding (jump) boundaries in range images easily, but they fail to detect most edges within objects. Thus, the features one selects for segmentation of range images have to be somewhat different from those selected for intensity images. In this paper, we introduce a scalar feature based on surface normal information for segmenting range images. This feature is attractive since it converts vector information into scalar information and since it can be computed very easily using existing intensity-image edge operators. Initial results obtained with ERIM range images of blocks are presented.

Citation Download Citation

Raghu J. Krishnapuram and Anasua Munshi "Segmentation Of Range Images Using Simple Differential-Geometric Features", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); https://doi.org/10.1117/12.960320

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