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Recovering Spheres from 3D Point Data



Christoph J. Witzgall, Geraldine Cheok, Anthony J. Kearsley


The National Institute of Standards and Technology is involved in developing standard protocols for the performance evaluation of 3D imaging systems, which include laser scanners and LADARs (LAser Detection and Ranging). A LADAR is an optical device that typically yields voluminous 3D ¿point clouds¿ by scanning scenes. In many applications, a model of an object which is present in the scene has been specified, and the task amounts to recovering this object from scan data. Specifically, the recovery of spheres from point clouds will be addressed, aiming at estimating the location of their centers and, if not known beforehand, their radii. This information can be used, for instance, to ¿register¿LADAR data to a specified coordinate frame. Two experiments recovering spheres based on best-fitting data points are reported. Sphere fitting based on orthogonal least squares is compared to a novel approach, minimizing instead the squares of range errors incurred in the direction of the scan.
Proceedings Title
Proceedings of the Applied Imagery Pattern Recognition Workshop
AIRP 2006
Conference Dates
October 10-12, 2006
Conference Location
Washington, DC, USA
Conference Title
Applied Imagery Pattern Recognition Workshop


coordinate search, directional fitting, laser scanning, optimization, orthogonal fitting, quasi-Newton, registration, spheres


Witzgall, C. , Cheok, G. and Kearsley, A. (2006), Recovering Spheres from 3D Point Data, Proceedings of the Applied Imagery Pattern Recognition Workshop, Washington, DC, USA, [online], (Accessed April 19, 2024)
Created March 31, 2006, Updated October 12, 2021