Segmentation of 3D range images using pyramidal data structures

Given a 3D range image of a scene containing multiple arbitrarily shaped objects, the authors segment the scene into homogeneous surface patches. A novel modular framework for the segmentation task is proposed. In the first module, over-segmentation is achieved using zeroth and first order local surface properties. The segmentation is then refined in the second module using high order surface representations dictated by the high level vision tasks. The procedure has been applied successfully to many range images, five of which are presented.<<ETX>>

[1]  Ramakant Nevatia,et al.  Segmented descriptions of 3-D surfaces , 1987, IEEE Journal on Robotics and Automation.

[2]  Marc Rioux,et al.  Segmentation Of Planar And Quadric Surfaces , 1988, Other Conferences.

[3]  Christian Lengauer,et al.  A Mechanically Derived Systolic Implementation of Pyramid Initialization , 1989, Hardware Specification, Verification and Synthesis.

[4]  Ramesh C. Jain,et al.  A Pyramid-Based Approach to Segmentation Applied to Region Matching , 1986, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[5]  Narendra Ahuja,et al.  Multiprocessor Pyramid Architectures for Bottom-Up Image Analysis , 1984, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[6]  Paul J. Besl,et al.  Surfaces in Range Image Understanding , 1988, Springer Series in Perception Engineering.

[7]  Azriel Rosenfeld,et al.  Image Smoothing and Segmentation by Multiresolution Pixel Linking: Further Experiments and Extensions , 1982, IEEE Transactions on Systems, Man, and Cybernetics.

[8]  Jake K. Aggarwal,et al.  Hierarchical segmentation of 3-D range images , 1989, Conference Proceedings., IEEE International Conference on Systems, Man and Cybernetics.

[9]  Azriel Rosenfeld,et al.  Segmentation and Estimation of Image Region Properties through Cooperative Hierarchial Computation , 1981, IEEE Transactions on Systems, Man, and Cybernetics.

[10]  T. Fan.  Describing and Recognizing 3-D Objects Using Surface Properties , 1989, Springer Series in Perception Engineering.

[11]  Ramesh C. Jain,et al.  Segmentation through Variable-Order Surface Fitting , 1988, IEEE Trans. Pattern Anal. Mach. Intell..

[12]  Anil K. Jain,et al.  Segmentation and Classification of Range Images , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[13]  Ramesh C. Jain,et al.  Three-dimensional object recognition , 1985, CSUR.