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An experimental comparison of range image segmentation algorithms

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10 Author(s)
Hoover, A. ; Dept. of Comput. Sci. & Eng., Univ. of South Florida, Tampa, FL, USA ; Jean-Baptiste, G. ; Jiang, X. ; Flynn, P.J.
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A methodology for evaluating range image segmentation algorithms is proposed. This methodology involves (1) a common set of 40 laser range finder images and 40 structured light scanner images that have manually specified ground truth and (2) a set of defined performance metrics for instances of correctly segmented, missed, and noise regions, over- and under-segmentation, and accuracy of the recovered geometry. A tool is used to objectively compare a machine generated segmentation against the specified ground truth. Four research groups have contributed to evaluate their own algorithm for segmenting a range image into planar patches.

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Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:18 ,  Issue: 7 )