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Beschreibung:
This report presents an object part detection method using a par- ticle lter. The method is adapted to a range camera that provides 3D information with a high data rate. However, the data is aected by considerable measurement noise and distortion. Thus, the range data is quantized to cope more eciently with the high data vol- ume and segmented into primitive parts with morphological oper- ators to assure processing speed. Measurement noise, outliers and segmentation errors are handled with a particle lter used here as a soft decision tree to detect object parts over several frames.