An Improved Maximum Consistency Geometric Primitives Fitting Algorithm for Point Cloud

Abstract:

Based on the idea of MCMD_Z algorithm, this paper presented a robust high precision fitting algorithm for plane, quadric surface primitives(sphere, cylinder, cone). According to the minimum sum of distance criteria, the algorithm obtained the best subset from the point cloud to fit the reliable initial value of the geometric primitive, removed the outliers cyclically using the robust Z score method, and fitted the inliers by using the weighted least square iteration method. Experimental results show that this algorithm can effectively remove outliers and precisely fit the geometric primitive in the point cloud with high content of outliers.