Fusion of range image and intensity image for 3D shape recognition

This paper presents methods for fusing a range image and an intensity image. The fusion is thought to be an important technology for 3D recognition of an intelligent robot system. In this paper, planar and cylindrical regions are selected as the features from a range image and an edge from an intensity image, and the following methods of fusing the features are proposed and formulated: (1) extraction of planar and cylindrical regions from a range image as the pre-process of the fusion, (2) measurement of 3D edges by fusing a planar region and an edge, (3) update of parameters of a cylindrical region by fusing an edge. Some experiments show the effectiveness of these methods for 3D shape recognition.