Volumetric description of solids of revolution in a range image

An approach to the problem of finding surfaces of revolution in range data is proposed. It is based on the fact that at least one of two focal surfaces for a surface of revolution degenerates into the axis of rotation. First, the centers of principal curvature are obtained for each point in the range image. Then, the Hough transform is used to detect the axes of rotation by finding the centers which lie on straight lines in space. Finally, the solid of revolution is volumetrically determined by estimating the cross-sectional radius function along each axis. It is concluded that the method can be used for describing and recognizing 3-D objects partially constructed of an unrestricted class of surfaces of revolution which are partially visible in a range image