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Proceedings Paper

Speeding up 3-D Binary Image Processing for Robot Vision
Author(s): P. W. Verbeek; F. C. A. Groen; H. A. Vrooman; B. J. H. Verwer
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Paper Abstract

Robots experience a three-dimensional binary world. Robot vision should therefore consider 3-d binary images. Rather than the acquisition, the processing of such images is the topic of this paper. 3-d images tend to contain at least two orders of magnitude more data than 2-d images. This means that the urge for speed is correspondingly stronger. Moreover, the state space of robot coordinates may be of still higher dimension and often a fast reaction to changes in the robot environment is wanted. Speeding up image processing for robot vision is likely to be a permanent need in the years to come. This paper describes some techniques to make 3-d binary image processing more efficient. Starting out from the typical needs and methods in robot vision the operations and corresponding optimal data representations are discussed. Cellular logic operations and of these skeletonization in particular are found to play a key role. Extensive use is made of the concept of region of interest, which permits to skip background when operating. The use of look-up tables, so effective in 2-d processing, is hampered by memory restrictions but still proves valuable when handled with care. A table-driven method for 3-d skeletonization is given as an example.

Paper Details

Date Published: 9 June 1986
PDF: 6 pages
Proc. SPIE 0595, Computer Vision for Robots, (9 June 1986); doi: 10.1117/12.952265
Show Author Affiliations
P. W. Verbeek, Delft University of Technology (The Netherlands)
F. C. A. Groen, Delft University of Technology (The Netherlands)
H. A. Vrooman, Delft University of Technology (The Netherlands)
B. J. H. Verwer, Delft University of Technology (The Netherlands)


Published in SPIE Proceedings Vol. 0595:
Computer Vision for Robots
Olivier D. Faugeras; Robert B. Kelley, Editor(s)

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