Finding points of high curvature and critical curves from a volume model

This paper presents a method to evaluate surface curvature at points on the three-dimensional shell of an object using a volume representation. By considering points where the curvature is significantly high to be feature points, curves may be constructed on the surface of the object model. Such descriptive curves will become useful in finding orientation or making identification in robotics applications. Explicit formulation and experimental results of curvature operators and a corner-finding operator are presented.