RAPID RECOGNITION OF OBJECT SKELETONS IN REDUCED RESOLUTION IMAGES (EDGE DETECTION, ESTIMATION FILTERING, PROCESSING, PATTERN, ROBOT VISION)

A procedure for rapid determination of object skeletons from reduced resolution images is described. Local edges are determined in both horizontal and vertical directions from the relative grey levels on either side of the edge. These local edges are connected in groups and the horizontal and vertical edge groups are then linked to form a closed curve. Vertices and curve types are determined on these closed curves by examining successive angular deflection. Internal edges of the object skeletons are determined. Pattern recognition of the object skeleton is then performed.