Technical Reports (CIS)

Document Type

Technical Report

Subject Area


Date of this Version

October 1989


University of Pennsylvania Department of Computer and Information Science Technical Report No. MS-CIS-89-73.


A wavelet decomposition for multiscale edge detection is used to separate border edges from texture in an image, toward the goal of a complete segmentation by Active Perception for robotic exploration of a scene. The physical limitations of the image acquisition system and the robotic system provide the limitations on the range of scales which we consider. We link edges through scale space, using the characteristics of these wavelets for guidance. The linked zero crossings are used to remove texture and preserve borders, then the scene can be reconstructed without texture.



Date Posted: 28 January 2008