A contour method for real-time range image parsing

Real-time or near real-time range images are available from a variety of sources. Many proposed uses for these devices require significant post-processing to extract relevant 3-D information. We propose a new method based on a generalization of contour maps that has several advantages over current methods in tasks such as terrain reconstruction and obstacle avoidance. The method is illustrated with examples from obstacle avoidance on a mobile robot.