Abstract
This paper presents an algorithm for extracting regions and subsequently labelling line segments in images, the algorithm is implemented for a stereo system that consists of a verging pair of cameras mounted on a mobile robot. The focus of the paper is on the description of an algorithm that uses the geometrical layout of line segments in an image to attach a label to each line segment: boundary, join or isolated. This line labelling is then used in conjunction with the planar regions within each image of a stereo pair to facilitate high level stereo matching.
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