We have developed a simple link-based data structure to efficiently represent line segments and their neighborhood relationship. The principle of our segmentation method is region growing. Three neighboring line segments satisfying an optimality criterion are selected as a seed region, and then a growing is carried out around the seed region. We use a noise variance estimation to automatically set some thresholds so that the algorithm can adapt to the noise conditions of different range images. The proposed algorithm has been tested on real range images acquired by two different range sensors.
Experimental results show that the proposed algorithm is fast and robust.