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Mathematical Problems in Engineering
Volume 2013 (2013), Article ID 290740, 19 pages
Research Article

Feature Extraction from 3D Point Cloud Data Based on Discrete Curves

School of Control Science and Engineering, Dalian University of Technology, Dalian, Liaoning 116023, China

Received 17 January 2013; Accepted 23 February 2013

Academic Editor: Jun Zhao

Copyright © 2013 Yi An et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Reliable feature extraction from 3D point cloud data is an important problem in many application domains, such as reverse engineering, object recognition, industrial inspection, and autonomous navigation. In this paper, a novel method is proposed for extracting the geometric features from 3D point cloud data based on discrete curves. We extract the discrete curves from 3D point cloud data and research the behaviors of chord lengths, angle variations, and principal curvatures at the geometric features in the discrete curves. Then, the corresponding similarity indicators are defined. Based on the similarity indicators, the geometric features can be extracted from the discrete curves, which are also the geometric features of 3D point cloud data. The threshold values of the similarity indicators are taken from , which characterize the relative relationship and make the threshold setting easier and more reasonable. The experimental results demonstrate that the proposed method is efficient and reliable.