A scene description method using three-dimensional information

摘要

This paper presents a method for describing scenes with polyhedra and curved objects from three-dimensional data obtained by a range finder. A scene is divided into many surface elements consisting of several data points. The surface elements are merged together into regions. The regions are classified into three classes: plane, curved and undefined. The program extends the curved regions by merging adjacent curved and undefined regions. Thus the scene is described by plane regions and smoothly curved regions, which might be useful for the recognition of the objects. From the results obtained so far the program seems to achieve the desired goals.