Segmentation Of Range Images Using Simple Differential-Geometric Features
Raghu J. Krishnapuram, Anasua Munshi · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 1989
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.