In this paper, we describe a novel technique to extract a polyhedral description from panoramic range data of a scene taken by a panoramic laser range finder. First, we introduce a reasonable noise model of the range data acquired with a laser radar range finder, and derive a simple and efficient approximate solution of the optimal fitting of a local plane in the range data under the assumed noise model. Then, we compute the local surface normals using the proposed method and extract stable planar regions from the range data by using both the distribution information of local surface normals and their spatial information in the range image. Finally, we describe a method which builds a polyhedral description of the scene using the extracted stable planar regions of the panoramic range data with 360 field of view in a polar coordinate system. Experimental results on complex real range data show the effectiveness of the proposed method.

In this paper, we propose a probabilistic approach to derive an approximate polyhedral description from range data. We first compare several least-squares-based methods for estimation of local normal vectors and select the most robust one based on a reasonable noise model of the range data. Second, we extract the stable planar regions from the range data by examining the distributions of the local normal vectors together with their spatial information in the 2D range image. Instead of segmenting the range data completely, we use only the geometries of the extracted stable planar regions to derive a polyhedral description of the range data. The curved surfaces in the range data are approximated by their extracted plane patches. With a probabilistic approach, the proposed method can be expected to be robust against the noise. Experimental results on real range data from different sources show the effectiveness of the proposed method.

A multimedia coding standard, MPEG4 has frozen its Committee Draft (CD) as the MPEG4 version 1 CD, last October. It defines Audio-Visual (AV) coding Algorithms and their System Multiplex/Composition formats. Founding on Object-base concept, Video part adopts Shape Coding technology in addition to conventional Texture Coding skills. Audio part consists of voice coding tools (HVXC and CELP core) and audio coding tools (HILN and MPEG2 AAC or Twin VQ). Error resilience technologies and Synthetic and Natural Hybrid Coding (SNHC) technologies are the MPEG4 specific features. System part defines flexible Multiplexing of audio-visual bitstreams and Scene Composition for user-interactive re-construction of the scenes at decoder side. The version 1 standardization will be finalized in 1998, with some possible minute changes. The expected application areas are real-time communication, mobile multimedia, internet/intranet accessing, broadcasting, storage media, surveillance, and so on.

This paper describes a method for describing a three-dimensional (3-D) scene by integrating color and range data. Range data is obtained by a feature-based stereo method developed in our laboratory. A color image is segmented into uniform color regions. A plane is fitted to the range data inside a segmented region. Regions are classified into three types based on the range data. A certain types of regions are merged and the others remain unless the region type is modified. The region type is modified if the range data on a plane are selected by removing of the some range data. As a result, the scene is represented by planar surfaces with homogeneous colors. Experimental results for real scenes are shown.