Surface feature extraction of objects using the surface equation

Abstract

This paper presents a new method of 3-D surface feature extraction using not conventional surface normal vectors and curvatures but center, corner and subsidiary points. We assume that each region of object have a uniform surface curvature distribution. With a range image, we get an edge map through the scan line technique. Using this edge map, we label a 3-dimensional object and extract center and corner point from each segmented region. Then we determine whether the segmented region is a planar surface or a curved. From the quadric surface equation, we calculate the coefficients of the planar surface or the curved surface. In this article, we use synthetic and real (Odetics) range images including polyhedral and curved objects.