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Planar segmentation of range images
Thesis (MSc)--Stellenbosch University, 2013.
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| Format: | Thesis |
| Language: | en_ZA |
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Stellenbosch : Stellenbosch University
2013
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| _version_ | 1867613910600777728 |
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| access_status_str | Open Access |
| author | Muller, Simon Adriaan |
| author2 | Brink, Willie |
| author_browse | Brink, Willie Muller, Simon Adriaan |
| author_facet | Brink, Willie Muller, Simon Adriaan |
| author_sort | Muller, Simon Adriaan |
| collection | Thesis |
| dc_rights_str_mv | Stellenbosch University |
| description | Thesis (MSc)--Stellenbosch University, 2013. |
| format | Thesis |
| id | oai:scholar.sun.ac.za:10019.1/80168 |
| institution | Stellenbosch University (South Africa) |
| language | en_ZA |
| last_indexed | 2026-06-10T12:43:39.397Z |
| license_str | Other — see source repository |
| provenance_str_mv | Harvested via OAI-PMH from SUNScholar — Stellenbosch University Repository |
| publishDate | 2013 |
| publishDateRange | 2013 |
| publishDateSort | 2013 |
| publisher | Stellenbosch : Stellenbosch University |
| publisherStr | Stellenbosch : Stellenbosch University |
| record_format | dspace |
| source_str | SUNScholar — Stellenbosch University Repository |
| spelling | oai:scholar.sun.ac.za:10019.1/80168 Planar segmentation of range images Muller, Simon Adriaan Brink, Willie Herbst, B. M. Stellenbosch University. Faculty of Science. Dept. of Mathematical Sciences. Range images Planar segmentation Graph cuts Optimization Dissertations -- Applied mathematics Theses -- Applied mathematics Image processing Thesis (MSc)--Stellenbosch University, 2013. ENGLISH ABSTRACT: Range images are images that store at each pixel the distance between the sensor and a particular point in the observed scene, instead of the colour information. They provide a convenient storage format for 3-D point cloud information captured from a single point of view. Range image segmentation is the process of grouping the pixels of a range image into regions of points that belong to the same surface. Segmentations are useful for many applications that require higherlevel information, and with range images they also represent a significant step towards complete scene reconstruction. This study considers the segmentation of range images into planar surfaces. It discusses the theory and also implements and evaluates some current approaches found in the literature. The study then develops a new approach based on the theory of graph cut optimization which has been successfully applied to various other image processing tasks but, according to a search of the literature, has otherwise not been used to attempt segmenting range images. This new approach is notable for its strong guarantees in optimizing a specific energy function which has a rigorous theoretical underpinning for handling noise in images. It proves to be very robust to noise and also different values of the few parameters that need to be trained. Results are evaluated in a quantitative manner using a standard evaluation framework and datasets that allow us to compare against various other approaches found in the literature. We find that our approach delivers results that are competitive when compared to the current state-of-the-art, and can easily be applied to images captured with different techniques that present varying noise and processing challenges. AFRIKAANSE OPSOMMING: Dieptebeelde is beelde wat vir elke piksel die afstand tussen die sensor en ’n spesifieke punt in die waargenome toneel, in plaas van die kleur, stoor. Dit verskaf ’n gerieflike stoorformaat vir 3-D puntwolke wat vanaf ’n enkele sigpunt opgeneem is. Die segmentasie van dieptebeelde is die proses waarby die piksels van ’n dieptebeeld in gebiede opgedeel word, sodat punte saam gegroepeer word as hulle op dieselfde oppervlak lê. Segmentasie is nuttig vir verskeie toepassings wat hoërvlak inligting benodig en, in die geval van dieptebeelde, verteenwoordig dit ’n beduidende stap in die rigting van volledige toneel-rekonstruksie. Hierdie studie ondersoek segmentasie waar dieptebeelde opgedeel word in plat vlakke. Dit bespreek die teorie, en implementeer en evalueer ook sekere van die huidige tegnieke wat in die literatuur gevind kan word. Die studie ontwikkel dan ’n nuwe tegniek wat gebaseer is op die teorie van grafieksnit-optimering wat al suksesvol toegepas is op verskeie ander beeldverwerkingsprobleme maar, sover ’n studie op die literatuur wys, nog nie gebruik is om dieptebeelde te segmenteer nie. Hierdie nuwe benadering is merkbaar vir sy sterk waarborge vir die optimering van ’n spesifieke energie-funksie wat ’n sterk teoretiese fondasie het vir die hantering van geraas in beelde. Die tegniek bewys om fors te wees tot geraas sowel as die keuse van waardes vir die min parameters wat afgerig moet word. Resultate word geëvalueer op ’n kwantitatiewe wyse deur die gebruik van ’n standaard evalueringsraamwerk en datastelle wat ons toelaat om hierdie tegniek te vergelyk met ander tegnieke in die literatuur. Ons vind dat ons tegniek resultate lewer wat mededingend is ten opsigte van die huidige stand-van-die-kuns en dat ons dit maklik kan toepas op beelde wat deur verskeie tegnieke opgeneem is, alhoewel hulle verskillende geraastipes en verwerkingsuitdagings bied. 2013-02-25T06:42:19Z 2013-03-15T07:38:44Z 2013-02-25T06:42:19Z 2013-03-15T07:38:44Z 2013-03 Thesis http://hdl.handle.net/10019.1/80168 en_ZA Stellenbosch University 89 p. : ill. application/pdf Stellenbosch : Stellenbosch University |
| spellingShingle | Range images Planar segmentation Graph cuts Optimization Dissertations -- Applied mathematics Theses -- Applied mathematics Image processing Muller, Simon Adriaan Planar segmentation of range images |
| title | Planar segmentation of range images |
| title_full | Planar segmentation of range images |
| title_fullStr | Planar segmentation of range images |
| title_full_unstemmed | Planar segmentation of range images |
| title_short | Planar segmentation of range images |
| title_sort | planar segmentation of range images |
| topic | Range images Planar segmentation Graph cuts Optimization Dissertations -- Applied mathematics Theses -- Applied mathematics Image processing |
| url | http://hdl.handle.net/10019.1/80168 |
| work_keys_str_mv | AT mullersimonadriaan planarsegmentationofrangeimages |