Scene Analysis Using Range Data
by Nitzan, David
Technical Note 69
Institution: AI Center, SRI International
Address: 333 Ravenswood Ave, Menlo Park, CA 94025
Note: Supported by ARPA contract DAHC04-72-C-0008.
This analysis obtains information about the geometry of polyhedral objects on the basis of quantized range data. Methods are proposed for determining planar regions and their boundaries, taking into account the various types of data errors. The analysis deals with the following topics: (1) range data, including definitions of image coordinates, measurement increments, and classification of errors, (2) detection of data points belonging to horizontal surfaces (e.g., the floor) and vertical surfaces, (3) determination of the points of various planar region boundaries by different methods, (4) the adverse effects of errors in the range data on the computed region-boundary points and some possible ways to minimize those effects, and (5) grouping the boundary points into gap-free vertical boundaries, horizontal boundaries, and three dimensional boundaries.
|Nitzan, David||Senior Principal Scientist|