Digital circles, spheres and hyperspheres: From morphological models to analytical characterizations and topological properties

In this paper we provide an analytical description of various classes of digital circles, spheres and in some cases hyperspheres, defined in a morphological framework. The topological properties of these objects, especially the separation of the digital space, are discussed according to the shape of the structuring element. The proposed framework is generic enough so that it encompasses most of the digital circle definitions that appear in the literature and extends them to dimension 3 and sometimes dimension n.