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Decomposing a point cloud into its components and extracting curve skeletonsfrom point clouds are two related problems. Decomposition of a shape into itscomponents is often obtained as a byproduct of skeleton extraction. In thiswork, we propose to extract curve skeletons, from unorganized point clouds, bydecomposing the object into its parts, identifying part skeletons and thenlinking these part skeletons together to obtain the complete skeleton. Webelieve it is the most natural way to extract skeletons in the sense that thiswould be the way a human would approach the problem. Our parts are generalizedcylinders (GCs). Since, the axis of a GC is an integral part of its definition,the parts have natural skeletal representations. We use translational symmetry,the fundamental property of GCs, to extract parts from point clouds. Wedemonstrate how this method can handle a large variety of shapes. We compareour method with state of the art methods and show how a part based approach candeal with some of the limitations of other methods. We present an improvedversion of an existing point set registration algorithm and demonstrate itsutility in extracting parts from point clouds. We also show how this method canbe used to extract skeletons from and identify parts of noisy point clouds. Apart based approach also provides a natural and intuitive interface for userinteraction. We demonstrate the ease with which mistakes, if any, can be fixedwith minimal user interaction with the help of a graphical user interface.

Skeleton Extraction from 3D Point Clouds by Decomposing the Object into Parts