Range image segmentation using mathematical morphology

We introduce a range image segmentation method using simple morphological operators. The paper describes how to obtain peak and valley image using edge-strength operator, peak and valley detection operators. This procedure makes the depth discontinuities contained in the peaks and the orientation discontinuities in the valleys. The depth discontinuities are extracted and the segmentation is accomplished by controlled region growing. Several examples of the experimental results from real range images are presented. The experimental results prove this range image segmentation technique quick and robust.<>