We address the problem of automating the processing of dense range data, specifically the automated interpretation of such data containing curved surfaces. This is a crucial step in the automated processing of range data for applications in object recognition, measurement, re-engineering and modeling. We propose a two stage process using model-based curvature classification as the first step. F...

A fundamental and well-studied problem in computational geometry is range searching, where the goal is to preprocess a set, S, of geometric objects (e.g., points in the plane) so that the subset S ′ ⊆ S that is contained in a query range (e.g., an axes-parallel rectangle) can be reported efficiently. However, in many situations, what is of interest is to generate a more informative “summary” of...

We have investigated the problem of removing objects from a heap without having recourse to object models. As we are relying on geometric information alone, the use of range data is a natural choice. The objects are to be grasped by a two-ngered gripper and therefore the system has to see opposite patches of the object surface. To ensure this, we use two range views from opposite sides. Each of...

We present a method to extract meaningful features from range images which introduces some novel ideas: First, our primitives are a richer set than the usual one, as we not only extract high frequences events, which correspond to jump boundaries and sharp creases, but also low frequency events such as smooth ridges and ravines. These last features are generally discarded as they tend to hide in...

Users of agricultural markets frequently need to establish accurate representations of expected future volatility. The fact that range-based volatility estimators are highly efficient has been acknowledged in the literature. However, it is not clear whether using range-based data leads to better risk management decisions. This paper compares the performance of GARCH models, range-based GARCH mo...

In this paper we present a computer vision algorithm for estimating cloth parameters for mod-eling. In an analysis-by-synthesis manner, the algorithm compares the drape of the model with the range data and searches for the best t. It can be applied to any physics-based cloth model. The motivating application is fashion design using CAD systems, but the ability of the algorithm to estimate the s...

This article presents a comparison of several methods for local estimation of normal direction, principal curvatures and principal directions, given a range image as input. Here we take a range image to be a set of points in 3D space; we also need a definition for neighbourhoods. All methods we compare are based on local approximation of the range image by an analytic surface or curves. Other a...

In this paper we present an algorithm for analysis of the range data of cloth drapes. The goal of the analysis is estimation of parameters for modeling and the geometry of the underlying object. In an analysis-by-synthesis manner, the algorithm compares the drape of the model with the range data and searches for the best t. It can be applied to any physics-based cloth model. The motivating appl...

We present an approach for indoor mapping and localisation with a mobile robot using sparse range data, without the need for solving the SLAM problem. The paper consists of two main parts. First, a split and merge based method for dividing a givenmetric map into distinct regions is presented, thus creating a topologicalmap in ametric framework. Spatial information extracted from this map is the...