Multiscale Edge Detection in Range Images via Normal Changes

Chwen-Jye Sze, Hong-Yuan Mark Liao, Hai-Lung Hung, Kuo-Chin Fan and Shing-Jong Lin

TR-IIS-96-016 (Fulltext)

Keywords: range edge detection, wavelet


A new edge detection technique based on detecting normal changes is proposed. Most of the existing range-image-based edge detection algorithms base their detection criterion on depth or curvature changes. However, depth or curvature changes do not have keen sensitivity on detecting roof ( or crease ) edges. Using normal changes as a detecting criterion, on the contrary, can easily detect the existence of a roof edge even the change across a boundary is slight. Experimental results using both synthetic and real images demonstrate that the proposed method is indeed superb in detecting roof ( or crease ) edges.