Fast segmentation of planar surfaces in range images

A new algorithm for planar face segmentation in range images is introduced. 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 neighbourhood and they mutually compete for the most optimal discontinuity defection