Robust Methods for Geometric Primitive Recovery and Estimation From Range Images

We present a method for the recovery of partially occluded 3D geometric primitives from range images which might also include non-primitive objects. The method uses a technique for estimating the principal curvatures and Darboux frame from range images. After estimating the principal curvatures and the Darboux frames from the entire scene, a search for the known patterns of these features in geometric primitives, is performed. If a specific pattern is identified then the presence of the corresponding primitive is confirmed using these local features. The features are also used to recover the primitive's characteristics. The suggested application is very efficient since it combines the segmentation, classification and fitting processes, which are part of any recovery process, in a single process, which advances monotonously through the recovery procedure. We view the problem as a robust statistics problem and we therefore use techniques from that field. A mean shift based algorithm...

• Type: Journal
• Year: 2008
• Where: TSMC
• Authors: Irina Lavva, Eyal Hameiri, Ilan Shimshoni
• Keywords: Principal Curvatures, Range Images, Robust, TSMC 2008