A segmentation technique for range images based on Fourier transform is presented. It allows the extraction of planar and quadric surfaces using a simple data coding. The method described is global (does not require the use of local operator for classification), robust to noise and easy to implement. Recognition procedures are also discussed.
"Segmentation Of Planar And Quadric Surfaces", Proc. SPIE 0848, Intelligent Robots and Computer Vision VI, (19 February 1988); doi: 10.1117/12.942766; https://doi.org/10.1117/12.942766