985 research outputs found
A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds
This paper proposes a segmentation-free, automatic and efficient procedure to
detect general geometric quadric forms in point clouds, where clutter and
occlusions are inevitable. Our everyday world is dominated by man-made objects
which are designed using 3D primitives (such as planes, cones, spheres,
cylinders, etc.). These objects are also omnipresent in industrial
environments. This gives rise to the possibility of abstracting 3D scenes
through primitives, thereby positions these geometric forms as an integral part
of perception and high level 3D scene understanding.
As opposed to state-of-the-art, where a tailored algorithm treats each
primitive type separately, we propose to encapsulate all types in a single
robust detection procedure. At the center of our approach lies a closed form 3D
quadric fit, operating in both primal & dual spaces and requiring as low as 4
oriented-points. Around this fit, we design a novel, local null-space voting
strategy to reduce the 4-point case to 3. Voting is coupled with the famous
RANSAC and makes our algorithm orders of magnitude faster than its conventional
counterparts. This is the first method capable of performing a generic
cross-type multi-object primitive detection in difficult scenes. Results on
synthetic and real datasets support the validity of our method.Comment: Accepted for publication at CVPR 201
Darboux cyclides and webs from circles
Motivated by potential applications in architecture, we study Darboux
cyclides. These algebraic surfaces of order a most 4 are a superset of Dupin
cyclides and quadrics, and they carry up to six real families of circles.
Revisiting the classical approach to these surfaces based on the spherical
model of 3D Moebius geometry, we provide computational tools for the
identification of circle families on a given cyclide and for the direct design
of those. In particular, we show that certain triples of circle families may be
arranged as so-called hexagonal webs, and we provide a complete classification
of all possible hexagonal webs of circles on Darboux cyclides.Comment: 34 pages, 20 figure
On organizing principles of Discrete Differential Geometry. Geometry of spheres
Discrete differential geometry aims to develop discrete equivalents of the
geometric notions and methods of classical differential geometry. In this
survey we discuss the following two fundamental Discretization Principles: the
transformation group principle (smooth geometric objects and their
discretizations are invariant with respect to the same transformation group)
and the consistency principle (discretizations of smooth parametrized
geometries can be extended to multidimensional consistent nets). The main
concrete geometric problem discussed in this survey is a discretization of
curvature line parametrized surfaces in Lie geometry. We find a discretization
of curvature line parametrization which unifies the circular and conical nets
by systematically applying the Discretization Principles.Comment: 57 pages, 18 figures; In the second version the terminology is
slightly changed and umbilic points are discusse
Superquadrics for segmentation and modeling range data
We present a novel approach to reliable and efficient recovery of part-descriptions in terms of superquadric models from range data. We show that superquadrics can directly be recovered from unsegmented data, thus avoiding any presegmentation steps (e.g., in terms of surfaces). The approach is based on the recover-andselect paradigm. We present several experiments on real and synthetic range images, where we demonstrate the stability of the results with respect to viewpoint and noise
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