Multiscale edge detection on range images via normal changes

Chwen Jye Sze*, Hong Yuan Mark Liao, Hai Lung Hung, Kuo Chin Fan, Jun-Wei Hsieh

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

13 Scopus citations


- A new edge detection technique based on detection of normal changes is proposed. Most of the existing range image-based edge detection algorithms base their detection criterion on depth or curvature changes. However, the depth change-based approch does not have keen sensitivity in detecting roof (or crease) edges, and the curvature change-based approach suffers from a complicated and tedious principal curvature derivation process. Using normal changes as a detecting criterion, on the other hand, the existence of an edge can be easily detected, even when the change across a boundary is slight. Experimental results using both synthetic and real images demonstrate that the proposed method can efficiently detect both step and roof edges.

Original languageEnglish
Pages (from-to)1087-1092
Number of pages6
JournalIEEE Transactions on Circuits and Systems II: Analog and Digital Signal Processing
Issue number8
StatePublished - 1 Dec 1998


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