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Using Dihedral Angles for Edge Extraction in Range Data

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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 feature extraction has been identified as a mechanism to produce a more compact scene representation, in particular using features such as edges and surfaces, and hence enables less costly scene interpretation for applications such as object recognition and robot navigation. We present an approach to edge 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 visual results are also provided.

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Authors and Affiliations

  1. Smart Sensors Ltd, University of Bath Innovation Centre, Carpenter House 1st Floor, Broad Quay, Bath, BA1 1UD, England

    Shanmugalingam Suganthan

  2. Magee College, University of Ulster, Northland Road, Londonderry, BT48 7JL, Northern Ireland

    Sonya A. Coleman

  3. University of Ulster, Cromore Road, Coleraine, BT52 1SA, Northern Ireland

    Bryan W. Scotney

Authors
  1. Shanmugalingam Suganthan
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  2. Sonya A. Coleman
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  3. Bryan W. Scotney
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Correspondence to Shanmugalingam Suganthan.

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Suganthan, S., Coleman, S.A. & Scotney, B.W. Using Dihedral Angles for Edge Extraction in Range Data. J Math Imaging Vis 38, 108–118 (2010). https://doi.org/10.1007/s10851-010-0213-7

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  • DOI: https://doi.org/10.1007/s10851-010-0213-7

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