A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds

Birdal T, Busam B, Navab N, Ilic S, Sturm P (2018)

Publication Type: Conference contribution

Publication year: 2018

Journal

Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition IEEE Computer Society; 1999

Publisher: IEEE Computer Society

Pages Range: 3530-3540

Conference Proceedings Title: Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition

Event location: Salt Lake City, UT, USA

ISBN: 9781538664209

DOI: 10.1109/CVPR.2018.00372

Abstract

This paper proposes a segmentation-free, automatic and efficient procedure to detect general geometric quadric forms in point clouds, where clutter and occlusions are inevitable. Our everyday world is dominated by man-made objects which are designed using 3D primitives (such as planes, cones, spheres, cylinders, etc.). These objects are also omnipresent in industrial environments. This gives rise to the possibility of abstracting 3D scenes through primitives, thereby positions these geometric forms as an integral part of perception and high level 3D scene understanding. As opposed to state-of-the-art, where a tailored algorithm treats each primitive type separately, we propose to encapsulate all types in a single robust detection procedure. At the center of our approach lies a closed form 3D quadric fit, operating in both primal & dual spaces and requiring as low as 4 oriented-points. Around this fit, we design a novel, local null-space voting strategy to reduce the 4-point case to 3. Voting is coupled with the famous RANSAC and makes our algorithm orders of magnitude faster than its conventional counterparts. This is the first method capable of performing a generic cross-type multi-object primitive detection in difficult scenes. Results on synthetic and real datasets support the validity of our method.

Involved external institutions

Technische Universität München (TUM) DE Germany (DE) Institut national de Recherche en Informatique et en Automatique (INRIA) FR France (FR)

How to cite

APA:

Birdal, T., Busam, B., Navab, N., Ilic, S., & Sturm, P. (2018). A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds. In Proceedings of the IEEE Computer Society Conference on Computer Vision and Pattern Recognition (pp. 3530-3540). Salt Lake City, UT, USA: IEEE Computer Society.

MLA:

Birdal, Tolga, et al. "A Minimalist Approach to Type-Agnostic Detection of Quadrics in Point Clouds." Proceedings of the 31st Meeting of the IEEE/CVF Conference on Computer Vision and Pattern Recognition, CVPR 2018, Salt Lake City, UT, USA IEEE Computer Society, 2018. 3530-3540.

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