[1] [2] Region-growing algorithms start by segmenting an image into initial regions.
A typical example of edge-based range segmentation algorithms is presented by Fan et al.[5] The segmentation procedure starts by detecting discontinuities using zero-crossing and curvature values.
At the next step, the initial segmentation is refined by fitting quadratics whose coefficients are calculated based on the Least squares method.
In addition, for curved surfaces, discontinuities are smooth and hard to locate and therefore these algorithms tend to under-segment the range image.
Although the range image segmentation problem has been studied for a number of years, the task of segmenting range images of curved surfaces is yet to be satisfactorily resolved.