Multiresolution surface parameter estimation for range images

This paper proposes a multiresolution surface parameter estimation method for range images. Based on the robust estimation, it approximates a patch to a planar or quadric surface in the locally adaptive window. Selection of resolution is made pixelwise by comparing a locally computed homogeneity measure with the global threshold calculated by the distribution of the approximation error. Experimental results show that the proposed multiresolution method well preserves step and roof edges and is robust to noise compared with the conventional parameter estimation methods.