RMSD: A 3D real-time mid-level scene description system

This paper introduces a system for real-time, visual 3D scene description. A scene is described by planar patches and conical objects (cylinders, cones and spheres). The system makes use of sensor´s natural point order, dimensionality reduction and fast incremental model update (in O(1)) to first build 2D geometric features. These features approximate the original data and form candidate sets of possible 3D object models. The candidate sets are used by a region growing algorithm to extract all targeted 3D objects. This two step (raw data to 2D features to 3D objects) approach is able to process 30 frames per second on Kinect depth data, which allows for real-time tracking and feature based robot mapping based on 3D range data.