Edge detection method for range image using pseudo reflectance images

In this paper, a new edge-based segmentation algorithm for range image using Pseudo Reflectance Images (PRIs) is proposed. A model of pseudo reflectance which is useful in analyzing three dimensional (3-D) scene and objects is introduced and then three PRIs are generated by using the model. Three edge images are extracted from each PRI and a fused (ORing) edge image is constructed for the benefit of enhanced edge formation. The final segmentation results are obtained after the processing of thinning, labeling and correcting erroneous regions with the fused edge image.