Representing 3-D Objects in Range Images Using Geons

摘要

We propose an approach for representing an object by its constituent parts and their spatial connections based on a set of primitive volumes called geons previously introduced by Biederman. We utilize the edge-junction graph of an object range image as input then decompose this graph into different subgraphs which correspond to the constituent parts of the object. For each part, edge characteristics guide us to an inference regarding the corresponding geon shape. Also, the spatial connections among these parts can be deduced from the concave edges andT-junctions. Several experimental results with a laser rangefinder are presented.