Description of 3D object in range image

A method is presented for the segmentation and description of 3-D objects in a range image. The image is segmented in two parallel ways: by region classification based on surface normal analysis and by edge detection using a relaxation process. The two results are combined by a small rule-based system to obtain a more reliable segmentation. Features of the 3D object at different levels are extracted and a surface attributes graph is constructed. This kind of view-independent description of 3D objects is effective and robust for object recognition and location. The objects considered are industrial parts composed of planes and quadric surfaces. The range image is provided by a laser scanner.<<ETX>>

[1]  Avinash C. Kak,et al.  Knowledge-based robotics , 1987, Proceedings. 1987 IEEE International Conference on Robotics and Automation.

[2]  Ernest L. Hall,et al.  Measuring Curved Surfaces for Robot Vision , 1982, Computer.

[3]  Thomas C. Henderson.  Efficient 3-D Object Representations for Industrial Vision Systems , 1983, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[4]  Yoshiaki Shirai,et al.  Object Recognition Using Three-Dimensional Information , 1981, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[5]  Bir Bhanu,et al.  Segmentation of natural scenes , 1987, Pattern Recognit..

[6]  Ramesh C. Jain,et al.  Invariant surface characteristics for 3D object recognition in range images , 1985, Comput. Vis. Graph. Image Process..

[7]  Paul Amaranth,et al.  Determining Surface Type From Surface Normals , 1982, AAAI.