Recovering Spheres from 3D Point Data

Published

April 1, 2006

Author(s)

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

Abstract

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

Volume

AIRP 2006

Conference Dates

October 10-12, 2006

Conference Location

Washington, DC, USA

Conference Title

Applied Imagery Pattern Recognition Workshop

Pub Type

Conferences

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Keywords

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

Citation

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], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=50949 (Accessed September 7, 2024)