Abstract Cylinder detection is an important step in reverse engineering of industrial sites, as such environments often contain a large number of cylindrical pipes and tanks. However, existing techniques for cylinder detection require the specification of several parameters which are difficult to adjust because their values depend on the noise level of the input point cloud. Also, these solutions often expect the cylinders to be either parallel or perpendicular to the ground. We present a cylinder-detection technique that is robust to noise, contains parameters which require little to no fine-tuning, and can handle cylinders with arbitrary orientations. Our approach is based on a robust linear-time circle-detection algorithm that naturally discards outliers, allowing our technique to handle datasets with various density and noise levels while using a set of default parameter values. It works by projecting the point cloud onto a set of directions over the unit hemisphere and detecting circular projections formed by samples defining connected components in 3D. The extracted cylindrical surfaces are obtained by fitting a cylinder to each connected component. We compared our technique against the state-of-the-art methods on both synthetic and real datasets containing various densities and noise levels, and show that it outperforms existing techniques in terms of accuracy and robustness to noise, while still maintaining a competitive running time.

中文翻译：

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无组织点云中基于连通性的圆柱检测

摘要 圆柱检测是工业现场逆向工程中的一个重要步骤，因为此类环境通常包含大量圆柱管道和罐。然而，现有的圆柱检测技术需要指定几个难以调整的参数，因为它们的值取决于输入点云的噪声水平。此外，这些解决方案通常期望圆柱体与地面平行或垂直。我们提出了一种对噪声具有鲁棒性的圆柱体检测技术，包含几乎不需要微调的参数，并且可以处理具有任意方向的圆柱体。我们的方法基于强大的线性时间圆检测算法，该算法自然会丢弃异常值，允许我们的技术在使用一组默认参数值的同时处理具有各种密度和噪声水平的数据集。它的工作原理是将点云投影到单位半球上的一组方向上，并检测由定义 3D 连接组件的样本形成的圆形投影。提取的圆柱表面是通过将圆柱拟合到每个连接的组件来获得的。我们在包含各种密度和噪声水平的合成和真实数据集上将我们的技术与最先进的方法进行了比较，并表明它在准确性和噪声鲁棒性方面优于现有技术，同时仍保持有竞争力的运行时间. 它的工作原理是将点云投影到单位半球上的一组方向上，并检测由定义 3D 连接组件的样本形成的圆形投影。提取的圆柱表面是通过将圆柱拟合到每个连接的组件来获得的。我们在包含各种密度和噪声水平的合成和真实数据集上将我们的技术与最先进的方法进行了比较，并表明它在准确性和噪声鲁棒性方面优于现有技术，同时仍保持有竞争力的运行时间. 它的工作原理是将点云投影到单位半球上的一组方向上，并检测由定义 3D 连接组件的样本形成的圆形投影。提取的圆柱表面是通过将圆柱拟合到每个连接的组件来获得的。我们在包含各种密度和噪声水平的合成和真实数据集上将我们的技术与最先进的方法进行了比较，并表明它在准确性和噪声鲁棒性方面优于现有技术，同时仍保持有竞争力的运行时间.