A comparison of local surface geometry estimation methods

McIvor, Alan M.; Valkenburg, Robert J.

doi:10.1007/s001380050055

Cited by 50 publications

(32 citation statements)

References 25 publications

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“…Locally fitting a quadric function is the most popular curvature estimation technique, both for range data [Flynn and Jain, 1989, Abdelmalek, 1989, Stokely and Wu, 1992, McIvor and Valkenburg, 1997 and for mesh representations [Hamann, 1993, Meek andWalton, 2000]. For a general second-order polynomial with six coefficients, applied to a height function, we have:…”

Section: Quadric Fittingmentioning

confidence: 99%

Estimating Curvature on Triangular Meshes

Gatzke¹,

Grimm²

2006

Int. J. Shape Model.

117

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This paper takes a systematic look at methods for estimating the curvature of surfaces represented by triangular meshes. We have developed a suite of test cases for assessing the sensitivity of curvature calculations to noise, mesh resolution, and mesh regularity. These tests are applied to existing discrete curvature approximation techniques and common surface fitting methods. We also look at alternatives to the standard parameterization techniques. The results illustrate the impact of noise and mesh related issues on the accuracy of these methods and provide guidance in choosing an appropriate method for applications requiring curvature estimates.

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Section: Quadric Fittingmentioning

confidence: 99%

Estimating Curvature on Triangular Meshes

Gatzke¹,

Grimm²

2006

Int. J. Shape Model.

117

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“…Principal, Gaussian and mean curvatures were calculated per surface atom using • an osculating quadric, as reported by McIvor and Valkenburg (1997), and considering the set of atoms in its neighborhood. From principal curvatures, we also computed the parameters curvedness and shape index, as proposed by Koenderink (1990).…”

Section: Methodsmentioning

confidence: 99%

A simple and efficient method for predicting protein-protein interaction sites

Higa

Tozzi

2008

Genet. Mol. Res.

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AbstrAct.Computational methods for predicting protein-protein interaction sites based on structural data are characterized by an accuracy between 70 and 80%. Some experimental studies indicate that only a fraction of the residues, forming clusters in the center of the interaction site, are energetically important for binding. In addition, the analysis of amino acid composition has shown that residues located in the center of the interaction site can be better discriminated from the residues in other parts of the protein surface. In the present study, we implement a simple method to predict interaction site residues exploiting this fact and show that it achieves a very competitive performance compared to other methods using the same dataset and criteria for performance evaluation (success rate of 82.1%).

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“…T is an orthonormal frame [5] that has x p and y p aligned with the principal directions, and z p aligned with the surface normal n. In the principal frame, the principal quadric is a second-order description of the surface [4].…”

Section: Quadric Fittingmentioning

confidence: 99%

“…A common approach for quadric fitting (adapted from McIvor and Valkenburg [4]) is listed in Algorithm 1. It makes use of a rotated principal frame X r .…”

Section: Quadric Fittingmentioning

confidence: 99%

Consistent pile-shape quantification for autonomous wheel loaders

Magnusson

Almqvist

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-This paper presents a study of approaches for selecting an efficient attack pose when loading piled materials with industrial construction vehicles. Automated handling of piled materials is a highly desired goal in many construction and mining applications. The main contributions of the paper are an experimental study of two novel approaches for selecting an attack pose from 3D data, compared to previously published approaches and extensions thereof. The outcome is based on quantitative validation, both with simulated data and data from a real-world scenario with nontrivial ground geometry. I. Introduction A. OverviewHandling heterogeneous piled materials is a core component in many construction and mining applications. A typical work cycle of a wheel loader working in these applications (see Fig. 1) consists of three repeated tasks: loading, hauling, and dumping. Hauling between the load and dump points can be handled in a number of ways, whether by GPS-waypoint following, or some more flexible approach from the rich literature on mobile-robot navigation. Dumping is relatively straightforward and can, in principle, be performed with preprogrammed motions. Efficient loading is a harder problem than the dumping sequence, and no practical solution for fully autonomous vehicles exists today. For economical and environmental reasons, it is important that the bucket is filled maximally in each load cycle and that the mechanical stress on the machine is minimised. When an automated wheel loader approaches a gravel pile, then, it should first analyse the shape of the pile (from a 3D range scan) and evaluate potential attack poses along the pile edge; i.e., positions and orientations at which it is efficient to approach the pile. This paper presents a comparison of previously published approaches and also presents the results of two novel methods for selecting attack poses. The outcome is based on quantitative experimental validation, both with simulated data and data from a real-world site.The present paper contains several contributions. a) Head-to-head comparison: Prior work on automated loading has only described single methods. This paper presents a comparative evaluation of two previous methods as well as two novel methods.b) Real-world evaluation: Prior publications only present experiments in simulation or in lab-like setups. This paper presents evaluations on real-world data from an asphaltproduction site with nontrivial ground geometry.c) 3D extension of Singh and Cannon [12]: A 3D extension of the 2D method that was published by Singh and Cannon [12] has been implemented and evaluated.

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A comparison of local surface geometry estimation methods

Cited by 50 publications

References 25 publications

Estimating Curvature on Triangular Meshes

Estimating Curvature on Triangular Meshes

A simple and efficient method for predicting protein-protein interaction sites

Consistent pile-shape quantification for autonomous wheel loaders

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