Segmentation of laser range images with respect to range and variance

Predrag Pucar; Mille C. Millnert; Ingmar G. E. Renhorn; Dietmar Letalick

doi:10.1117/12.154974

3 September 1993 Segmentation of laser range images with respect to range and variance

Predrag Pucar, Mille C. Millnert, Ingmar G. E. Renhorn, Dietmar Letalick

Proceedings Volume 1955, Signal Processing, Sensor Fusion, and Target Recognition II; (1993) https://doi.org/10.1117/12.154974
Event: Optical Engineering and Photonics in Aerospace Sensing, 1993, Orlando, FL, United States

Abstract

Segmentation is a first step towards successful tracking and object recognition in 2-D pictures. Mostly the pictures are segmented with respect to quantities as range, intensity, etc. Here a method is presented for segmentation of 2-D laser range pictures with respect to both range and variance simultaneously. This is very useful since man-made objects differ from the background in the terrain by their smoothness. The approach is based on modeling horizontal scans of the terrain as piecewise constant functions. Since the environment has a complicated and irregular structure we use multiple models for modeling different segments in the laser range image. The switching between different models, i.e., ranges belonging to different segments in a horizontal scan, are modeled by a hidden Markov model. The method is of relatively low computational complexity and the maximal complexity can be controlled by the user. Real data is used for illustration of the method.

Citation Download Citation

Predrag Pucar, Mille C. Millnert, Ingmar G. E. Renhorn, and Dietmar Letalick "Segmentation of laser range images with respect to range and variance", Proc. SPIE 1955, Signal Processing, Sensor Fusion, and Target Recognition II, (3 September 1993); https://doi.org/10.1117/12.154974

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