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Integra - An Integrated System for Range Image Understanding

Segmentation, feature extraction, recognition and localization are the four stages in range image understanding. Conventional approaches to range image understanding have treated these stages in isolation with a largely bottom-up flow of control and data through these various stages. Strictly bottom-up approaches have proved to be fragile in the face of errors in segmentation due to noise and limitations on sensor resolution and accuracy. Synergetic interaction of these various stages is essential for an image understanding system to exhibit robust behavior. This paper describes the design and implementation of INTEGRA, a range image understanding system that attempts to exploit the synergy between the various stages in the image understanding process. The salient features of INTEGRA are: (i) A synergetic combination of edge- and surface-based segmentation processes that results in more accurate segmentation than would have been possible with either of them alone and (ii) the ability to correct errors made during segmentation in the matching and localization stages. INTEGRA at this time, is limited to recognition and localization of polyhedral objects and is in the process of being enhanced to handle objects with curved surfaces of quadratic order such as spherical, ellipsoidal, cylindrical, and conical surfaces. Experimental results on real range images containing single and multiple polyhedral objects are presented. Future enhancements to INTEGRA are discussed.