Fully automatic feature extraction from point cloud
Channel: CurvSurf
Date: 28/03/2012

Recommendation: 1:07 (inner cylinder of a hollow cylinder), 3:33 (segmentation of two planes with small offset).

Exact features (plane, sphere, cylinder, cone) are fully automatically and directly extracted from point cloud. The parameters of the extracted features include size, angle, position, axis direction, and their covariance matrix, etc.

To note is the extraction of the two concentric cylinders in the left side of the current view frame. The inner cylinder is segmented and extracted as first randomly in order. The applied algorithm separates robustly and safely the inlier points and the outlier points (segmentation).

Point cloud: 68640 points taken by a stripe projection (3-D measurement) method.

System: Windows XP HE SP3, Pentium4 3GHz, 2GB RAM.

Mathematical background: Orthogonal Distance Fitting.

Reference: S.J. Ahn, "Least Squares Orthogonal Distance Fitting of Curves and Surfaces in Space", Springer-Verlag, 2004.

3-D object recognition, point cloud, feature extraction, least squares, Hough, RANSAC, plane, sphere, cylinder, cone, torus, pipe, reducer, elbow, orthogonal distance fitting, segmentation, automation, CurvSurf.