Abstract
This paper first presents robust algorithms to extract invariants of the lineai Lie algebra model from 3D objects. In paticular, an extended 3D Hough transform is presented to extract accuate estimates of the normal vectors.The Least square fitting is used to find normal vectors and representation matrices.Then an algorithm of segmentation for 3D objects is shown using the invariants of the linear Lie algebra. Distributions of invariants, both in the invariant space and on the object surface ,are ued for clustering and edge detection.
