ICRA'09 Paper Abstract


Paper FrC3.3

Ye, Cang (University of Arkansas at Little Rock), Hegde, GuruPrasad M. (University of Arkansas at Little Rock)

Robust Edge Extraction for Swissranger SR-3000 Range Images

Scheduled for presentation during the Regular Sessions "Range Sensing - I" (FrC3), Friday, May 15, 2009, 14:10−14:30, Room: 401

2009 IEEE International Conference on Robotics and Automation, May 12 - 17, 2009, Kobe, Japan

This information is tentative and subject to change. Compiled on January 21, 2022

Keywords Range Sensing, Computer Vision for Robotics and Automation, Recognition


This paper presents a new method for extracting object edges from range images obtained by a 3D range imaging sensorthe SwissRanger SR-3000. In range image preprocessing stage, the method enhances object edges by using surface normal information; and it employs the Hough Transform to detect straight line features in the Normal-Enhanced Range Image (NERI). Due to the noise in the sensorís range data, a NERI contains corrupted object surfaces that may result in unwanted edges and greatly encumber the extraction of linear features. To alleviate this problem, a Singular Value Decomposition (SVD) filter is developed to smooth object surfaces. The efficacy of the edge extraction method is validated by experiments in various environments.



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