Active Vision With Multiresolution Wavelets

A wavelet decomposition for multiscale edge detection is used to separate border edges from texture in an image, toward the goal of a complete segmentation by Active Perception for robotic exploration of a scene. The physical limitations of the image acquisition system and the robotic system provide the limitations on the range of scales which we consider. We link edges through scale space, using the characteristics of these wavelets for guidance. The linked zero crossings are used to remove texture and preserve borders, then the scene can be reconstructed without texture. Comments University of Pennsylvania Department of Computer and Information Science Technical Report No. MSCIS-89-73. This technical report is available at ScholarlyCommons: http://repository.upenn.edu/cis_reports/859 Active Vision With Multiresolut ion Wavelets MS-CIS-89-73 GRASP LAB 196 Howard Choset Ruzena Bajcsy Helen Anderson Department of Computer and Information Science School of Engineering and Applied Science University of Pennsylvania Philadelphia, PA 19104-6389