Wissensbasierte 3D-Analyse von Gebäudeszenen aus mehreren frei gewählten Stereofotos

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Finding the Parts of Objects in Range Images

A key problem in the interpretation of visual form is the partitioning of a shape into principal components that correspond to the parts of an object. This paper presents a method for partitioning a set of surface estimates obtained with a laser range finding system into subsets corresponding to such parts. The strategy employed makes use of two complementary representations for surfaces: one that describes local structures in terms of differential properties (e.g. edges, lines, contours) and the other that represents the surface as a collection of smooth patches at different scales. It is shown that by enforcing a consistent interpretation between these two representations, it is possible to derive a partitioning algorithm that is both efficient and robust. Examples of its performance on a set of range images are presented