Title :
Planar patch extraction with noisy depth data
Author :
Cobzas, Dana ; Zhang, Hong
Author_Institution :
Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada
Abstract :
This paper presents an algorithm for extracting planar patches by integrating both intensity and range data provided by a stereo system. For dealing with noisy and sparse range data, the initial segmentation is based on intensity information, and then the resulted regions are thresholded using depth data. This new algorithm, different from the existing ones that use only range data in the segmentation process, produces accurate planar patches that are then used for building a panoramic image-based model for mobile robot navigation
Keywords :
feature extraction; image segmentation; mobile robots; robot vision; stereo image processing; intensity; intensity information; mobile robot navigation; noisy depth data; panoramic image-based model; patch extraction; range; segmentation; stereo system; Buildings; Clustering algorithms; Data mining; Image segmentation; Mobile robots; Navigation; Robot sensing systems; Robot vision systems; Stereo vision; Virtual reality;
Conference_Titel :
3-D Digital Imaging and Modeling, 2001. Proceedings. Third International Conference on
Conference_Location :
Quebec City, Que.
Print_ISBN :
0-7695-0984-3
DOI :
10.1109/IM.2001.924444