Fast Segmentation of Planar Surfaces in Range Images

An algorithm for planar face segmentation in range images. The segmentation is based on a combination of recursive adaptive regression model prediction for detecting range image step discontinuities which are present at object face borders and of a region growing on surface lines. Border pixels are detected in two perpendicular directions and detection results are combined together. Two predictors in each direction use identical contextual information from the pixel's neighbourhood and they mutually compete for the most optimal discontinuity detection.


The structured light (ABW) range image and the intesity image, respectively.
Resulting segmentation.
Haindl, M., and P. Žid, "Fast segmentation of plannar surfaces in range images", Proceedings of the 14th International Conference on Pattern Recognition, Los Alamitos, IEEE, pp. 985-987, August, 1998.