TY - GEN
T1 - A quantitative evaluation of surface normal estimation in point clouds
AU - Jordan, Krzysztof
AU - Mordohai, Philippos
N1 - Publisher Copyright:
© 2014 IEEE.
PY - 2014/10/31
Y1 - 2014/10/31
N2 - We revisit a well-studied problem in the analysis of range data: surface normal estimation for a set of unorganized points. Surface normal estimation has been well-studied initially due to its theoretical appeal and more recently due to its many practical applications. The latter cover several aspects of range data analysis from plane or surface fitting to segmentation, object detection and scene analysis. Following the vast majority of the literature, we also focus our attention on techniques that operate in small neighborhoods around the point whose normal is to be estimated. We pay close attention to aspects of the implementation, such as the use of weights and normalization, that have not been studied in detail in the past. We perform quantitative evaluation on a diverse set of point clouds derived from 3D meshes, which allows us to obtain accurate ground truth.
AB - We revisit a well-studied problem in the analysis of range data: surface normal estimation for a set of unorganized points. Surface normal estimation has been well-studied initially due to its theoretical appeal and more recently due to its many practical applications. The latter cover several aspects of range data analysis from plane or surface fitting to segmentation, object detection and scene analysis. Following the vast majority of the literature, we also focus our attention on techniques that operate in small neighborhoods around the point whose normal is to be estimated. We pay close attention to aspects of the implementation, such as the use of weights and normalization, that have not been studied in detail in the past. We perform quantitative evaluation on a diverse set of point clouds derived from 3D meshes, which allows us to obtain accurate ground truth.
UR - http://www.scopus.com/inward/record.url?scp=84911469378&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84911469378&partnerID=8YFLogxK
U2 - 10.1109/IROS.2014.6943157
DO - 10.1109/IROS.2014.6943157
M3 - Conference contribution
AN - SCOPUS:84911469378
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4220
EP - 4226
BT - IROS 2014 Conference Digest - IEEE/RSJ International Conference on Intelligent Robots and Systems
T2 - 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2014
Y2 - 14 September 2014 through 18 September 2014
ER -