Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fits

IEEE Transactions on Pattern Analysis and Machine Intelligence
Tolga BirdalPeter Sturm

Abstract

We present a novel and effective method for detecting 3D primitives in cluttered, unorganized point clouds, without axillary segmentation or type specification. We consider the quadric surfaces for encapsulating the basic building blocks of our environments - planes, spheres, ellipsoids, cones or cylinders, in a unified fashion. Moreover, quadrics allow us to model higher degree of freedom shapes, such as hyperboloids or paraboloids that could be used in non-rigid settings. We begin by contributing two novel quadric fits targeting 3D point sets that are endowed with tangent space information. Based upon the idea of aligning the quadric gradients with the surface normals, our first formulation is exact and requires as low as four oriented points. The second fit approximates the first, and reduces the computational effort. We theoretically analyze these fits with rigor, and give algebraic and geometric arguments. Next, by re-parameterizing the solution, we devise a new local Hough voting scheme on the null-space coefficients that is combined with RANSAC, reducing the complexity from O(N4) to O(N3) (three points). To the best of our knowledge, this is the first method capable of performing a generic cross-type multi-object primiti...Continue Reading

Related Concepts

Related Feeds

Antibody Specificity

Antibodies produced by B cells are highly specific for antigen as a result of random gene recombination and somatic hypermutation and affinity maturation. As the main effector of the humoral immune system, antibodies can neutralize foreign cells. Find the latest research on antibody specificity here.

Related Papers

IEEE Transactions on Neural Networks and Learning Systems
Xuesong ZhangWei Wang
IEEE Transactions on Image Processing : a Publication of the IEEE Signal Processing Society
Yi-Ling Chen, Shang-Hong Lai
IEEE Transactions on Pattern Analysis and Machine Intelligence
Wei LiaoKarl Rohr
IEEE Transactions on Systems, Man, and Cybernetics. Part B, Cybernetics : a Publication of the IEEE Systems, Man, and Cybernetics Society
Paulo Fabiano Urnau GotardoLuciano Silva
© 2022 Meta ULC. All rights reserved