Three-dimensional point processing and model generation

A system for three-dimensional point processing and model generation, the system comprising:

• a database configured to store data comprising a three-dimensional point cloud point cloud representing a scene;
• a computer processer configured to receive the stored data from the database, and to execute software responsive to the stored data;
• and
• a software program executable on the computer processer, the software program containing computer readable software instructions for:
• applying a primitive extraction to the data to associate primitive shapes with points within the three-dimensional point cloud, the primitive extraction comprising:
• estimating normal vectors for the three-dimensional point cloud;
• projecting the estimated normal vectors onto a Gaussian sphere for the three-dimensional point cloud;
• detecting and eliminating point-clusters corresponding to planar areas of the three-dimensional point cloud to obtain a residual Gaussian sphere;
• detecting great-circle patterns on the residual Gaussian sphere to produce a segmented point cloud;
• projecting each segment of the segmented point cloud onto respective planes to produce respective two-dimensional point clouds;
• detecting circle patterns in each two-dimensional point cloud;
• and
• processing the circle patterns to determine cylinder parameters for each of a plurality of candidate cylinders;
• and
• assembling the candidate cylinders into a three-dimensional surface model of the scene.

A non-transitory processor readable medium containing computer readable software instructions used for three-dimensional point processing and model generation, the software instructions comprising instructions for:

• applying a primitive extraction to three-dimensional point cloud data to associate primitive shapes with points within the three-dimensional point cloud, wherein the three-dimensional point cloud represents a scene, the primitive extraction comprising:
• estimating normal vectors for the three-dimensional point cloud;
• projecting the estimated normal vectors onto a Gaussian sphere for the three-dimensional point cloud;
• detecting and eliminating point-clusters corresponding to planar areas of the three-dimensional point cloud to obtain a residual Gaussian sphere;
• detecting great-circle patterns on the residual Gaussian sphere to produce a segmented point cloud;
• projecting each segment of the segmented point cloud onto respective planes to produce respective two-dimensional point clouds;
• detecting circle patterns in each two-dimensional point cloud;
• and
• processing the circle patterns to determine cylinder parameters for each of a plurality of candidate cylinders.;
• and
• assembling the candidate cylinders into a three-dimensional surface model of the scene.