Range Information Propagation Transform

A novel method of model-based object recognition is presented in this paper. Its novelty stems from the fact that the gray level image captured by a camera is merged with sparse range information in an active manner. By using a projective transform,which is determined by the sparse range data, features (e.g. edge points) related to a single planar surface patch or figure in the scene can be assigned with their corresponding range values respectively. As a result, the shape of the very planar patch or figure…