Object detection in point clouds using conformal geometric algebra

DOI10.1007/S00006-017-0759-1MaRDI QIDQ1695109zbMATH OpenOpenAlexWikidataFDO

Authors Aksel Sveier, Adam Leon Kleppe, Lars Tingelstad, O. Egeland

Publication date 7 February 2018

Published in Advances in Applied Clifford Algebras (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL http://hdl.handle.net/11250/2436540

zbMATH Keywords

numerical examplescylinderlinesspheresconformal geometric algebrapoint cloudsellipsoidsleast squares fittingparameter estimatorprimitive geometric objects

Mathematics Subject Classification ID

Point estimation (62F10) Numerical aspects of computer graphics, image analysis, and computational geometry (65D18)

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Cites work

• Automatic multivector differentiation and optimization
• Foundations of geometric algebra computing.
• Use of the Hough transformation to detect lines and curves in pictures

Cited in

(12)

• Locating geometric primitives by pruning the parameter space
• A curvature-based descriptor for point cloud alignment using conformal geometric algebra
• Detection, classification and estimation of individual shapes in 2D and 3D point clouds
• A combination of \texttt{RANSAC} and \texttt{DBSCAN} methods for solving the multiple geometrical object detection problem
• Feature preserving multiresolution subdivision and simplification of point clouds: a conformal geometric algebra approach
• Support vector machines for classification of geometric primitives in point clouds
• Poisson equation solution and its gradient vector field to geometric features detection
• Geometric entities voting schemes in the conformal geometric algebra framework
• Self-location of unmanned aerial vehicle using conformal geometric algebra
• Fitting and recognition of geometric primitives in segmented 3D point clouds using a localized voting procedure
• Edge and Corner Detection in Unorganized Point Clouds for Robotic Pick and Place Applications
• Monte Carlo geometry modeling for particle transport using conformal geometric algebra

Describes a project that uses

Uses Software

• GitHub
• GAME
• PCL
• Ceres Solver
• Versor

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