matlab - find the edge based on normals -

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i have 480*640 depth image, , got normals (a 480*640*3 matrix) of each pixel depth image. know how find edge based on normal information?

thanks lot!

an intuitive definition of edge in depth image surface normal faces away viewer. assuming viewing direction [0 0 -1] (into xy plane) normal has vanishing z component can characterized edge.

e = abs( depth(:,:,3) ) < 1e-3; %// nice starting point

you need set threshold based on data.

after might consider applying non-maximal suppression or other morphological cleaning operations.


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