Change detection in range imaging for 3D scene segmentation

Christian L. Schutz; Heinz Huegli

doi:10.1117/12.248568

21 August 1996 Change detection in range imaging for 3D scene segmentation

Christian L. Schutz, Heinz Huegli

Proceedings Volume 2786, Vision Systems: Applications; (1996) https://doi.org/10.1117/12.248568
Event: Lasers, Optics, and Vision for Productivity in Manufacturing I, 1996, Besancon, France

Abstract

This paper deals with the problem of segmenting a 3D scene obtained by range imaging. It assumes scenes of arbitrary complexity in which the objects to be recognized are newly added or removed and investigates how the methods of change detection and image difference used in classical image processing can be used in range imaging. In a first step, we consider the case of ideal range images and conduct an analysis of segmentation by range image difference that shows the direct applicability of this principle. In a second step, we consider the case of the wide class of range sensors that suffer from shadowing effects which leads to missing data in the range image. An interpretation of this ambiguity in difference calculation and means to remove it will be given. Additional rules for the practical segmentation of 3D scenes by range image change detection are described. The presented methods lead to the possibility to segment a scene by isolating newly added or removed objects. They are tested using range images from two distinct range imagers of the light stripping type. Results indicate the success of this approach and the practical possibility to use it in the frame of an assembly task.

Citation Download Citation

Christian L. Schutz and Heinz Huegli "Change detection in range imaging for 3D scene segmentation", Proc. SPIE 2786, Vision Systems: Applications, (21 August 1996); https://doi.org/10.1117/12.248568

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available