Abstract: an adaptive smoothing algorithm within a scale space framework is proposed to extract the features of noisy range images of a laser rangefinder.
摘要：为了提取含有噪声的激光扫描距离图像中的特征，提出了一种多尺度自适应滤波方法。
After smoothing, fitting and sampling the discrete space curves, the algorithm calculated Frenet frame and curvature for each sampling point.
该算法对离散的曲线进行光顺、拟合和采样，使用空间曲线微分几何性质计算各采样点的曲率和弗朗·内特标架。
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