Robust Cylinder Estimation in Point Clouds from Pairwise Axes Similarities

摘要

The ubiquitous presence of cylindrical shapes in both natural and man-made environments makes their automated extraction a pivotal task for a broad range of applications such as robot manipulation, reverse engineering and automated industrial inspection. Albeit conceptually simple, the task of fitting cylinders from 3D data can quickly become challenging if performed "in-the-wild", when no prior is given to the number of primitives to find or when the point cloud is noisy and not oriented. In this paper we introduce a new robust approach to iteratively extract cylindrical primitives from a 3D point cloud by exploiting mutual consensus of different cylinder candidates. First, a set of possible axes is generated by slicing the point cloud with multiple random planes. Then, a game-theoretic inlier selection process is performed to extract a subset of axes maximizing the fitness against a payoff function based on the shortest geodesic path in SE(3) between pairs of corresponding 3D lines. Finally, the probability distribution resulting from the previous selection step is used to weight the input candidates and robustly obtain the final cylinder coefficients. Compared to other methods, our approach does not require point normals, offers superior resilience to noise and does not depend on delicate tuning of multiple parameters.