Integration of Color and Range Data for Three-Dimensional Scene Description

Akira OKAMOTO  Yoshiaki SHIRAI  Minoru ASADA  

IEICE TRANSACTIONS on Information and Systems   Vol.E76-D   No.4   pp.501-506
Publication Date: 1993/04/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Image Processing and Understanding)
image understanding,  range data,  sensor fusion,  scene description,  color image,  stereo vision,  

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This paper describes a method for describing a three-dimensional (3-D) scene by integrating color and range data. Range data is obtained by a feature-based stereo method developed in our laboratory. A color image is segmented into uniform color regions. A plane is fitted to the range data inside a segmented region. Regions are classified into three types based on the range data. A certain types of regions are merged and the others remain unless the region type is modified. The region type is modified if the range data on a plane are selected by removing of the some range data. As a result, the scene is represented by planar surfaces with homogeneous colors. Experimental results for real scenes are shown.