Edge Detection in Range Images Based on Scan Line Approximation

In this paper we present a novel edge detection algorithm for range images based on a scan line approximation technique. Compared to the known methods in the literature, our algorithm has a number of advantages. It provides edge strength measures that have a straightforward geometric interpretation and supports a classification of edge points into several subtypes. We give a definition of optimal edge detectors and compare our algorithm to this theoretical model. We have carried out extensive tests using real range images acquired by four range scanners with quite different characteristics. Using a simple contour closure technique, we show that our edge detection method is able to achieve a complete range image segmentation into regions. This edge-based segmentation approach turns out to be superior to many region-based methods with regard to both segmentation quality and computational efficiency. The good results that were achieved demonstrate the practical usefulness of our edge detection algorithm. c © 1999 Academic Press