So, there are a couple of ways you could do that. One is by using structuring elements as indicated in G & W. Another way would be to take a 3D method like described here in the surface approximation section (shameless plug): http://confactsdatas.inrialpes.fr/IEEE_RSJ_-_IROS_2010_International_Conference_on_Intelligent_Robots_and_Systems___Conference/data/papers/0389.pdf
no, just the convex hull of a a 2D image.
I found the definition in "Gonzalez & Woods, p545", but I am not sure to implement the stuff.
jean-patrick