Extraction of Corner-Edge-Surface Structure from Range Images Using Mathematical Morphology

Chu-Song CHEN  Yi-Ping HUNG  Ja-Ling WU  

IEICE TRANSACTIONS on Information and Systems   Vol.E78-D   No.12   pp.1636-1641
Publication Date: 1995/12/25
Online ISSN: 
Print ISSN: 0916-8532
Type of Manuscript: Special Section PAPER (Special Issue on Machine Vision Applications)
machine vision algorithms,  feature extraction,  rangedata/3D shapes,  

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Mathematical morphology is inheriently suitable for range image processing because it can deal with the shape of a function in a natural and intuitive way. In this paper, a new approach to the extraction of the corner-edge-surface structure from 3D range images is proposed. Morphological operations are utilized for segmenting range images into smooth surface regions and high-variation surface regions, where the high-variation surface regions are further segmented into regions of edge type and regions of corner type. A new 3D feature, HV-skeleton, can be extracted for each high-variation surface region. The HV-skeletons can be thought of as the skeletons of high-variation surface regions and are useful for feature matching. The 3D features extracted by our approach are invariant to 3D translations and rotations, and can be utilized for higher-level vision tasks such as registration and recognition. Experimental results show that the new 3D feature extraction method works well for both simple geometric objects and complex shaped objects such as human faces.