Extraction of cylinders and cones from minimal point sets

We propose new algebraic methods for extracting cylinders and cones from minimal point sets, including oriented points. More precisely, we are interested in computing efficiently cylinders through a set of three points, one of them being oriented, or through a set of five simple points. We are also interested in computing efficiently cones through a set of two oriented points, through a set of four points, one of them being oriented, or through a set of six points. For these different interpolation problems, we give optimal bounds on the number of solutions. Moreover, we describe algebraic methods targeted to solve these problems efficiently

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

Colliding Interfaces in Old and New Diffuse-interface Approximations of Willmore-flow

This paper is concerned with diffuse-interface approximations of the Willmore flow. We first present numerical results of standard diffuse-interface models for colliding one dimensional interfaces. In such a scenario evolutions towards interfaces with corners can occur that do not necessarily describe the adequate sharp-interface dynamics. We therefore propose and investigate alternative diffuse-interface approximations that lead to a different and more regular behavior if interfaces collide. These dynamics are derived from approximate energies that converge to the $L^1$-lower-semicontinuous envelope of the Willmore energy, which is in general not true for the more standard Willmore approximation

Phase field approach to optimal packing problems and related Cheeger clusters

In a fixed domain of $\Bbb{R}^N$ we study the asymptotic behaviour of optimal clusters associated to $\alpha$-Cheeger constants and natural energies like the sum or maximum: we prove that, as the parameter $\alpha$ converges to the "critical" value $\Big (\frac{N-1}{N}\Big ) _+$, optimal Cheeger clusters converge to solutions of different packing problems for balls, depending on the energy under consideration. As well, we propose an efficient phase field approach based on a multiphase Gamma convergence result of Modica-Mortola type, in order to compute $\alpha$-Cheeger constants, optimal clusters and, as a consequence of the asymptotic result, optimal packings. Numerical experiments are carried over in two and three space dimensions

Generic Primitive Detection in Point Clouds Using Novel Minimal Quadric Fits

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 $O(N^4)$ to $O(N^3)$ (three points). To the best of our knowledge, this is the first method capable of performing a generic cross-type multi-object primitive detection in difficult scenes without segmentation. Our extensive qualitative and quantitative results show that our method is efficient and flexible, as well as being accurate.Comment: Submitted to IEEE Transactions on Pattern Analysis and Machine Intelligence (T-PAMI). arXiv admin note: substantial text overlap with arXiv:1803.0719

Involutions of polynomially parametrized surfaces

We provide an algorithm for detecting the involutions leaving a surface defined by a polynomial parametrization invariant. As a consequence, the symmetry axes, symmetry planes and symmetry center of the surface, if any, can be determined directly from the parametrization, without computing or making use of the implicit representation. The algorithm is based on the fact, proven in the paper, that any involution of the surface comes from an involution of the parameter space (the real plane, in our case); therefore, by determining the latter, the former can be found. The algorithm has been implemented in the computer algebra system Maple 17. Evidence of its efficiency for moderate degrees, examples and a complexity analysis are also given