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In this paper, we present a fast segmentation algorithm based on the geometric characteristics of the objects and the attribute of medium. This algorithm is not only suitable for sparse point clouds, but also for dense point clouds. It is built up of three stages: First, the range image is established from the Velodyne VLP-16 laser scanner data, which changes the sparse characteristic of data in the...
This paper proposes a new approach to classify obstacles using a time-of-flight camera, for applications in assistive navigation of the visually impaired. Combining range and intensity images enables fast and accurate object segmentation, and provides useful navigation cues such as distances to the nearby obstacles and obstacle types. In the proposed approach, a 3-D range image is first segmented...
Image segmentation is the key factor for target recognition of ladar range images. Morphological watershed segmentation is a steady method, which can produce a closed curve. In this paper, a watershed segmentation based on markers is used to carry out emulational experiments on image segmentation of range images: simulated range image of coherent ladar, background-suppressed range image and range...
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