Robust regression and outlier detection
Robust regression and outlier detection
Robust regression methods for computer vision: a review
International Journal of Computer Vision
Surface reconstruction from unorganized points
SIGGRAPH '92 Proceedings of the 19th annual conference on Computer graphics and interactive techniques
Surface reconstruction by Voronoi filtering
Proceedings of the fourteenth annual symposium on Computational geometry
Robust Adaptive Segmentation of Range Images
IEEE Transactions on Pattern Analysis and Machine Intelligence
QSplat: a multiresolution point rendering system for large meshes
Proceedings of the 27th annual conference on Computer graphics and interactive techniques
Proceedings of the 28th annual conference on Computer graphics and interactive techniques
Fast Approximate Energy Minimization via Graph Cuts
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robust Computer Vision through Kernel Density Estimation
ECCV '02 Proceedings of the 7th European Conference on Computer Vision-Part I
Robust Motion Segmentation Using Rank Ordering Estimatiors
ACCV '98 Proceedings of the Third Asian Conference on Computer Vision-Volume II
Estimating surface normals in noisy point cloud data
Proceedings of the nineteenth annual symposium on Computational geometry
MUSE: Robust Surface Fitting using Unbiased Scale Estimates
CVPR '96 Proceedings of the 1996 Conference on Computer Vision and Pattern Recognition (CVPR '96)
Multi-level partition of unity implicits
ACM SIGGRAPH 2003 Papers
Shape modeling with point-sampled geometry
ACM SIGGRAPH 2003 Papers
Non-iterative, feature-preserving mesh smoothing
ACM SIGGRAPH 2003 Papers
ACM SIGGRAPH 2003 Papers
Normal Improvement for Point Rendering
IEEE Computer Graphics and Applications
Robust Adaptive-Scale Parametric Model Estimation for Computer Vision
IEEE Transactions on Pattern Analysis and Machine Intelligence
Surface Reconstruction of Noisy and Defective Data Sets
VIS '04 Proceedings of the conference on Visualization '04
Scale Selection for Classification of Point-Sampled 3-D Surfaces
3DIM '05 Proceedings of the Fifth International Conference on 3-D Digital Imaging and Modeling
Provably good moving least squares
SODA '05 Proceedings of the sixteenth annual ACM-SIAM symposium on Discrete algorithms
Robust moving least-squares fitting with sharp features
ACM SIGGRAPH 2005 Papers
A Bayesian method for probable surface reconstruction and decimation
ACM Transactions on Graphics (TOG)
Point-Based Graphics
Surface and normal ensembles for surface reconstruction
Computer-Aided Design
Parameterization-free projection for geometry reconstruction
ACM SIGGRAPH 2007 papers
ACM SIGGRAPH 2007 papers
Poisson surface reconstruction
SGP '06 Proceedings of the fourth Eurographics symposium on Geometry processing
Voronoi-based variational reconstruction of unoriented point sets
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Data-dependent MLS for faithful surface approximation
SGP '07 Proceedings of the fifth Eurographics symposium on Geometry processing
Technical Section: Variational Bayesian noise estimation of point sets
Computers and Graphics
Consolidation of unorganized point clouds for surface reconstruction
ACM SIGGRAPH Asia 2009 papers
Robust mesh reconstruction from unoriented noisy points
2009 SIAM/ACM Joint Conference on Geometric and Physical Modeling
Provable surface reconstruction from noisy samples
Computational Geometry: Theory and Applications
Anisotropic smoothing of point sets
Computer Aided Geometric Design - Special issue: Geometric modelling and differential geometry
On the normal vector estimation for point cloud data from smooth surfaces
Computer-Aided Design
A Generalized Kernel Consensus-Based Robust Estimator
IEEE Transactions on Pattern Analysis and Machine Intelligence
Surface-normal estimation with neighborhood reorganization for 3D reconstruction
CIARP'07 Proceedings of the Congress on pattern recognition 12th Iberoamerican conference on Progress in pattern recognition, image analysis and applications
Normal estimation for point clouds: a comparison study for a Voronoi based method
SPBG'05 Proceedings of the Second Eurographics / IEEE VGTC conference on Point-Based Graphics
Bootstrap-based normal reconstruction
Proceedings of the 7th international conference on Curves and Surfaces
Fast and Robust Normal Estimation for Point Clouds with Sharp Features
Computer Graphics Forum
SMI 2013: Point cloud normal estimation via low-rank subspace clustering
Computers and Graphics
An adaptive normal estimation method for scanned point clouds with sharp features
Computer-Aided Design
Splat-based surface reconstruction from defect-laden point sets
Graphical Models
Consolidation of low-quality point clouds from outdoor scenes
SGP '13 Proceedings of the Eleventh Eurographics/ACMSIGGRAPH Symposium on Geometry Processing
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This paper presents a novel technique for estimating normals on unorganized point clouds. Methods from robust statistics are used to detect the best local tangent plane for each point. Therefore the algorithm is capable to deal with points located in high curvature regions or near/on complex sharp features, while being highly robust with respect to noise and outliers. In particular, the presented method reliably recovers sharp features but does not require tedious manual parameter tuning as done by current methods. The key ingredients of our approach are a robust noise-scale estimator and a kernel density estimation (KDE) based objective function. In contrast to previous approaches the noise-scale estimation is not affected by sharp features and achieves high accuracy even in the presence of outliers. In addition, our normal estimation procedure allows detection and elimination of outliers. We confirm the validity and reliability of our approach on synthetic and measured data and demonstrate applications to point cloud denoising.