Laser radar camera can be used to measure 3D data of object surface, its output is called range image. Range images provide direct geometrical information about the shape of visible surfaces so that some problems in 3D object recognition and position should be solved more easily. Some range image feature extracting methods are too complex to control and consume a lot of time and space. In order to resolve these problems, this paper presents a multiresolution range image feature extracting method based on lifting scheme. This approach compute very fast and save spaces, so it is especially suitable for real-time applications such as pipeline bin-pick etc.
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