Segmentation of range images using successive differentiation

High-level vision systems that use range images require them to be segmented into clusters of pixels with a common geometric representation. This paper presents a new range image segmentation technique based on successive differentiation. Each time the image is differentiated, an edge detection process follows to locate the surface jump and fold discontinuities. Then, the closed edge contours and the different image regions are identified. The segmentation process is relatively fast and requires minimal user-interference. Experimental results using real range images are presented.