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Published Articles >> Table of Contents >> Abstract
17th International Conference on Pattern Recognition (ICPR'04) - Volume 2
pp. 80-84
Edge Detection in Range Images of Piled Box-like Objects
Dimitrios Katsoulas, Albert-Ludwigs-University of Freiburg, Germany
Andreas Werber, Albert-Ludwigs-University of Freiburg, Germany
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DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/ICPR.2004.1334045
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| Abstract |
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We present a framework for edge detection in range images acquired by a time of flight laser sensor. Our edge detection approach is inspired by [Edge Detection in Range Images Based on Scan Line Approximation], in the context of which edge detection via scan line approximation with geometric parametric models is performed. The main drawback of this edge detector, namely the scan line over-segmentation problem is addressed by the introduction of a simple merging step. In addition, we incorporate a method for detection of the noisy data points created by the effect of laser beam splitting between surfaces of different ranges. Finally, a procedure for fine localization of the edge points is introduced. Experimental results on a variety of target object configurations demonstrate that our edge detection framework exhibits increased robustness and accuracy with regard to [Edge Detection in Range Images Based on Scan Line Approximation]. These characteristics in combination with the computational efficiency of our approach, allows for its usage as a component of a real time system for automatic unloading of piled box-like objects.
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 Additional Information
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Citation:
Dimitrios Katsoulas, Andreas Werber,
"Edge Detection in Range Images of Piled Box-like Objects,"
icpr,
pp. 80-84,
17th International Conference on Pattern Recognition (ICPR'04) - Volume 2,
2004
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