Segmentation and Classification of Range Images

@article{Hoffman1987SegmentationAC,
  title={Segmentation and Classification of Range Images},
  author={Richard L. Hoffman and Anil K. Jain},
  journal={IEEE Transactions on Pattern Analysis and Machine Intelligence},
  year={1987},
  volume={PAMI-9},
  pages={608-620}
}
The recognition of objects in three-dimensional space is a desirable capability of a computer vision system. Range images, which directly measure 3-D surface coordinates of a scene, are well suited for this task. In this paper we report a procedure to detect connected planar, convex, and concave surfaces of 3-D objects. This is accomplished in three stages. The first stage segments the range image into ``surface patches'' by a square error criterion clustering algorithm using surface points and… CONTINUE READING
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