Abstract
In this paper, application of a nonlinear laplacian operator for edge detection in range images is discussed. The nonlinear laplace operator which had earlier been shown to be effective for edge detection in intensity images with low and medium signal-to-noise ratios is modified to detect the roof edges in range images. Differences in surface normal in a neighborhood around a pixel in the image is used here in contrast to the differences in gray values used in intensity images. The images are smoothened using median filters of suitable size before applying the laplace operator. Results with synthetic and natural range images are presented.
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