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Curvilinear Image Regions Detection: Applications to Mobile Robotics

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Figure

Figure 1: Several examples of generalized cylinders. (a) Straighthomogeneous generalized cylinders
Figure 4: Definitions for the estimation of curvilinear properties. (a) Normal vector is estimated for every pixelthe cross points between the normal vectors and the left and right borders define thecalculated as the distance between the cross points and the
Figure 5: Maximum value of energy allowed for the curvilinearnumber of points of the skeleton
Figure 6: Detection test with simple images. The first row contains the original images

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