Physical Edge Detection Using the Curvature at the Critical Points

Abstract

This paper introduces a method for three dimensional edge localization using a range sensor based on the triangulation principle. The curvature at points of a digital curve was investigated. A procedure for edges detection that has low sensitivity to noise has been designed. The procedure for edge detection imbeds two steps. The first step is the extraction of the point that has a critical position on the scanned object. the second step is the computation of the curvature at that point and the verification of edge presence. The detection approach presented herein beholds the advantages of being implemented in active exploration of the robotic workcell.