A Preliminary Study on Spherical Surfaces Detection in 3D Point Clouds using Sliding Voxels and Hough Voting

抄録

One of the most common types of parametric surfaces found in both industrial and urban environments are spherical. While more efficient and precise algorithms are needed for practical applications, conventional methods still are slow or require additional surface information, therefore, we proposed a sliding voxel based algorithm to locally fit spheres into point clouds and casting votes into a sparse 4D Hough accumulator.