A Multi-agent Approach for Range Image Segmentation

This paper presents and evaluates a multi-agent approach for range image segmentation. A set of reactive and autonomous agents perform a collective segmentation by partitioning a range image in its different planar regions. The agents move over the image and perform cooperative and competitive actions on the pixels, allowing a robust region extraction, and an accurate edge detection. An artificial potential field, created around the pixels of interest, ensures the agent coordination. It allows the agents to concentrate their actions around the edges and the noise regions. The experimental results show the potential of the proposed approach for scene understanding in range images, regarding both segmentation efficiency, and detection accuracy.