Fast Cylindrical Fitting Method Using Point Cloud’s Normals Estimation

Table 2

Data fitting results of the second group of pipeline point cloud; unit: m.

Method of obtaining initial value	Unit vector of cylindrical axis direction			A point on the axis of a cylinder	Radius (r)	Number of iterations
	u	v
This paper method	0.3748	0.3307	0.4877	(-5.3132,-3.1070,-0.4741)	0.6078	2
Literature [13] method	0.3748	0.3307	0.4878	(-5.3121,-3.1072,-0.4729)	0.6070	71