27 March 1989 Range Image Analysis Via Quadtree And Pyramid Structure Based On Surface Curvature
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Proceedings Volume 1002, Intelligent Robots and Computer Vision VII; (1989) https://doi.org/10.1117/12.960321
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States
This paper presents a method which can expedite, while maintaining the accuracy, range image analysis such as range image segmentation, classification, and location of the region of interest in the range image, thereby making 3-D vision techniques based on range images more useful in manipulating robots accurately in real time. The proposed method incorporates quadtree and pyramid structure in order to quickly analyze range images. In order to make range image analysis independent of the viewing directions, surface curvatures, which are visible-invariant surface characteristics, are exploited. Specifically, we will discuss the following topics: (1) problems of using the surface curvatures for the range image analysis in the presence of noise; (2) generation of the range image pyramid; (3) reliable range image segmentation and classification via split-and-merge using the planarity test and the surface curvatures; (4) incorporation of the quadtree and the pyramid structure to speed up the projection process.
© (1989) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Hyun S. Yang, "Range Image Analysis Via Quadtree And Pyramid Structure Based On Surface Curvature", Proc. SPIE 1002, Intelligent Robots and Computer Vision VII, (27 March 1989); doi: 10.1117/12.960321; https://doi.org/10.1117/12.960321


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