Morphological scale-space fingerprints and their use in object recognition in range images

We present the theory of multiscale dilation-erosion scale-space and the process of feature extraction via morphological scale-space fingerprints. We then discuss the reduced form of the fingerprints and state the scale-space causality theorem. These fingerprints are then applied to the recognition of multiple objects from range data. The proposed recognition system is invariant to translation, rotation, scale, and partial occlusion. We demonstrate results for the recognition of human faces in a scene, and the recognition of mountain features in a digital elevation map.