The segmentation of range image is essential to recognize the three dimensional object. Generally, surface curvature is well-known feature for segmentation and classification of the fange image, but it is sensitive to noies. In this paper, we propose the structure of hierarchical neural network using surface curvature for segmentation of range images. The hierarchical structure of neural networks is robust to noise and the result of segmentaion is better than conventional optimization method of single level.
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