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The paper describes a novel real-time algorithm for finding 3D geometricprimitives (cylinders, cones and spheres) from 3D range data. In its core, itperforms a fast model fitting with a model update in constant time (O(1)) foreach new data point added to the model. We use a three stage approach.The firststep inspects 1.5D sub spaces, to find ellipses. The next stage uses theseellipses as input by examining their neighborhood structure to form sets ofcandidates for the 3D geometric primitives. Finally, candidate ellipses arefitted to the geometric primitives. The complexity for point processing isO(n); additional time of lower order is needed for working on significantlysmaller amount of mid-level objects. This allows the approach to process 30frames per second on Kinect depth data, which suggests this approach as apre-processing step for 3D real-time higher level tasks in robotics, liketracking or feature based mapping.

Real-time 3D scene description using Spheres, Cones and Cylinders