Automatic segmentation and model identification in unordered 3D point cloud

Sung Joon Ahn; I. Effenberger; W. Rauh; Hyungsuck Cho; E. Westkämper

doi:10.1117/12.467726

18 October 2002 Automatic segmentation and model identification in unordered 3D-point cloud

Sung Joon Ahn, I. Effenberger, W. Rauh, Hyungsuck Cho, E. Westkämper

Proceedings Volume 4902, Optomechatronic Systems III; (2002) https://doi.org/10.1117/12.467726
Event: Optomechatronic Systems III, 2002, Stuttgart, Germany

Abstract

Segmentation and object recognition in point cloud are of topical interest for computer and machine vision. In this paper, we present a very robust and computationally efficient interactive procedure between segmentation, outlier detection, and model fitting in 3D-point cloud. For an accurate and reliable estimation of the model parameters, we apply the orthogonal distance fitting algorithms for implicit curves and surfaces, which minimize the square sum of the geometric (Euclidean) error distances. The model parameters are grouped and simultaneously estimated in terms of form, position, and rotation parameters, hence, providing a very advantageous algorithmic feature for applications, e.g., robot vision, motion analysis, and coordinate metrology. To achieve a high automation degree of the overall procedures of the segmentation and object recognition in point cloud, we utilize the properties of implicit features. We give an application example of the proposed procedure to a point cloud containing multiple objects taken by a laser radar.

Citation Download Citation

Sung Joon Ahn, I. Effenberger, W. Rauh, Hyungsuck Cho, and E. Westkämper "Automatic segmentation and model identification in unordered 3D-point cloud", Proc. SPIE 4902, Optomechatronic Systems III, (18 October 2002); https://doi.org/10.1117/12.467726

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available