INTEGRA-an integrated approach to range image understanding

摘要

The design and implementation of INTEGRA is described. INTEGRA isa range image understanding system that attempts to exploit the synergybetween the various stages in the image understanding process i.e.segmentation, feature extraction, recognition and localization. Twoprominent features of INTEGRA are: a synergetic combination of edge- andsurface-based segmentation processes that results in more accuratesegmentation than would have been possible with either of them alone;and the ability to correct errors made during segmentation in thematching and localization stages. At present, INTEGRA is capable ofrecognition and localization of polyhedral objects and objects that canbe treated as piecewise combinations of curved surfaces of quadraticorder, typically spherical, ellipsoidal, cylindrical and conicalsurfaces