Monte Carlo Registration and Its Application with Autonomous Robots

Figure 6

Edges detected in cropped ToF data. From (a) to (d) intensity, intensity edges, range edges, and edge difference image. In the intensity image the color gradient of the handle of the power screwdriver being used as a feature is conspicuous. This gradient can be recognized in the (d) difference image again.

(a)

(b)

(c)

(d)