3D map building is a complex robotics task which needs mathematical robust models. From a 3D point cloud, we can use the normal vectors to these points to do feature extraction. In this paper, we will present a robust method for normal estimation and unconstrained 3D-mesh generation from a not-uniformly distributed point cloud.

In this paper, we propose a new approach to estimate curvature information of point-sampled surfaces. We estimate curvatures in terms of the extremal points of a one-dimensional energy function for discrete surfels (points equipped with normals) and a multi-dimensional energy function for discrete unstructured point clouds. Experimental results indicate that our approaches can estimate curvatur...

Within the paper, the combined application of terrestrial image and LIDAR data for façade reconstruction is discussed. Existing 3D building models as they are available from airborne data collection are additionally integrated into the process. These given models provide a priori information, which efficiently supports both the georeferencing of the terrestrial data and the subsequent geometric...

With the rapid development of 3-dimensional (3D) acquisition technology, point clouds have a wide range application prospects in fields computer vision, autonomous driving, and robotics. Point cloud data is widely used many 3D scenes, deep learning has become mainstream research method for classification with advantages automatic feature extraction strong generalization ability. In this paper, ...

Point cloud is a widely used geometric data structure in the missions of 3D reconstruction, digital city and geologic survey etc. Extracting sufficient information from point key to deal with aforementioned missions. However, huge number points lead computational complexity inefficiency during training process. To this problem, paper proposes novel framework name Principal Component Analysis Ne...

Automatic vehicle extraction from an airborne laser scanning (ALS) point cloud is very useful for many applications, such as digital elevation model generation and 3D building reconstruction. In this article, an object-based point cloud analysis (OBPCA) method is proposed for vehicle extraction from an ALS point cloud. First, a segmentation-based progressive TIN (triangular irregular network) d...