【源码】从给定点云恢复超二次曲面/基元的算法

一种从给定点云恢复超二次曲面/基元的算法，具有良好的鲁棒性、准确性和效率。从点云中提取的超二次曲面提供了对对象和环境的简洁、体积和几何意义的解释。可以作为一种低级别的体积表示，从中建立更高级别的任务，例如运动规划、碰撞检测和机器人环境交互。

源代码和实用程序函数位于/src中；演示包含在/example_scripts中。

An algorithm to recover a superquadric surface/primitive from a given point cloud, with good robustness, accuracy and efficiency. The superquadric abstracted from a point cloud provides a concise, volumetric, and geometrically meaningful interpretation of objects and environment. It can work as a low-level volumetric representation, from which higher level tasks, e.g., motion planning, collision detection and robot-environment interaction, can be built up.

Source code and utility functions are in /src; demos are included in the /example_scripts.

Other classical methods are also included in this package [1-4].

If you find this package usefule, please cite:

W. Liu, Y. Wu, S. Ruan, G. S. Chirikjian, Robust and Accurate Superquadric Recovery: a Probabilistic Approach, CVPR 2022.

Reference:

[1] F. Solina and R. Bajcsy. Recovery of parametric models fromr ange images: the case for superquadrics with global defomations. IEEE Transactions on Pattern Analysis and Machine Intelligence, 12(2):131–147, 1990

[2] A. D. Gross and T. E. Boult. Error of fit measures for recovering parametric solids. In Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV), pages 690–694, 1988

[3] Y. Hu and W. G. Wee. Robust 3D part extraction from range images with deformable superquadric models. In Signal Processing, Sensor Fusion, and Target Recognition IV, volume 2484, pages 524 – 535. International Society for Optics and Photonics, SPIE, 1995

[4] N. Vaskevicius and A. Birk. Revisiting superquadric fitting: A numerically stable formulation. IEEE Transactions on Pattern Analysis and Machine Intelligence, 41(1):220–233, 2019

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https://url92.ctfile.com/f/1850492-580892977-fadfd7?p=3660 (访问密码: 3660)