Single-step Planar Surface Extraction from Range Images

S Suganthan, SA Coleman, BW Scotney

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The volume of raw range image data that is required to represent just a single scene can be extensive; hence direct interpretation of range images can incur a very high computational cost. Range image segmentation and feature extraction have been identified as mechanisms to produce more compact scene representations and hence enable less costly scene interpretation for applications such as object recognition and robot navigation. We present a new approach to multi-scale edge and planar surface detection in range images that can be used directly with any range data, regardless of whether the data have regular or irregular spatial distribution. The approach is evaluated with respect to accuracy of both edge location and planar surface representation. The contribution of our approach is that only a single application of our operator is necessary to both extract object edges and determine representations of the corresponding planar object surfaces.
LanguageEnglish
Title of host publicationUnknown Host Publication
Pages363-370
Number of pages8
Publication statusPublished - Jun 2008
Event4th International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT 2008) - Atlanta, USA
Duration: 1 Jun 2008 → …

Conference

Conference4th International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT 2008)
Period1/06/08 → …

Fingerprint

Object recognition
Image segmentation
Spatial distribution
Feature extraction
Navigation
Robots
Costs

Cite this

Suganthan, S., Coleman, SA., & Scotney, BW. (2008). Single-step Planar Surface Extraction from Range Images. In Unknown Host Publication (pp. 363-370)
Suganthan, S ; Coleman, SA ; Scotney, BW. / Single-step Planar Surface Extraction from Range Images. Unknown Host Publication. 2008. pp. 363-370
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Suganthan, S, Coleman, SA & Scotney, BW 2008, Single-step Planar Surface Extraction from Range Images. in Unknown Host Publication. pp. 363-370, 4th International Symposium on 3D Data Processing, Visualization and Transmission (3DPVT 2008), 1/06/08.

Single-step Planar Surface Extraction from Range Images. / Suganthan, S; Coleman, SA; Scotney, BW.

Unknown Host Publication. 2008. p. 363-370.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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AU - Coleman, SA

AU - Scotney, BW

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N2 - The volume of raw range image data that is required to represent just a single scene can be extensive; hence direct interpretation of range images can incur a very high computational cost. Range image segmentation and feature extraction have been identified as mechanisms to produce more compact scene representations and hence enable less costly scene interpretation for applications such as object recognition and robot navigation. We present a new approach to multi-scale edge and planar surface detection in range images that can be used directly with any range data, regardless of whether the data have regular or irregular spatial distribution. The approach is evaluated with respect to accuracy of both edge location and planar surface representation. The contribution of our approach is that only a single application of our operator is necessary to both extract object edges and determine representations of the corresponding planar object surfaces.

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UR - http://www.cc.gatech.edu/research/reports/GT-IC-08-05

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Suganthan S, Coleman SA, Scotney BW. Single-step Planar Surface Extraction from Range Images. In Unknown Host Publication. 2008. p. 363-370