A Survey of Simple Geometric Primitives Detection Methods for Captured 3D Data

Comparison webapp for the presented algorithms, details in Section 5.5 of the paper.

Usage: click on the column title to reorder the list of method based on this criterion.

References are listed at the end of this page.

show caption

	Year	Author	Name	Planes	Boxes	Cuboids	Spheres	Cylinders	Cones	Other Primitives	Context	Input	Inner Data	Detection Category	Data Fidelity	Abstraction Level	Real-time	Scalability	User Assistance	Learning Phase	Intuitive Tuning	Temporal Consistency	Semantics	Needs Extra Information	Provides Meta Data	Robustness to Noise	Robustness to Incomplete Data	Robustness to Outliers	Code Available
[1]	2016	Ochmann	Walls Layout	✓							building interiors			RANSAC	2	3		●			●	---	○			○	○	●
[2]	2016	Oesau	Regular Planar Modeling	✓							building interiors			primitive growing	3	3		●			●	---				○	○	○
[3]	2015	Alehdaghi	Parallel RANSAC	✓							indoor scene			primitive growing	2	2	●	●			●							●
[4]	2015	Bagautdinov	Occupancy Maps		✓						indoor scene			local statistics	1	3		---				---				●	●	●
[5]	2015	Elghor	Planar RGB-D SLAM	✓							indoor scene	⁎		RANSAC	2	2	●	●				●			●	●	●	●
[6]	2015	Kaess	Quaternion Representation	✓							indoor scene	⁎		RANSAC	2	2	●	●				●			●	●	○	●
[7]	2015	Kang	Bayes SAmple Consensus	✓			✓	✓			any			RANSAC	3	2	●	○				---				○	●	●
[8]	2015	Khan	Boxes around Objects		✓						indoor scene			primitive growing	1	3		---		●	●	---		●	●	●	○	●
[9]	2015	Limberger	3D Kernel Hough Transform	✓							indoor scene			parameter space	3	3	●	●			●	---				●	●	●	●
[10]	2015	Martinovic	3D All The Way		✓						urban buildings	⁎		segmentation + fitting	2	3		●		●	○	○	●	●	●	○	○	●
[11]	2015	Monszpart	RAPter	✓							building interiors			primitive growing	2	3		●			●	---				●	●	●	●
[12]	2015	Verdie	Level of Detail	✓		✓				✓	urban buildings	△	△	segmentation + fitting	3	3		●			○	---	●		○	●	○	●
[13]	2015	Zhang	Labeled KinectFusion	✓							indoor scene	⁎	□	primitive growing	3	2	●	●	○		○	●				●	●	○
[14]	2015	Zhou	Generalized Cylinder					✓			individual objects	△	△	primitive growing	3	2		---			○	---					○	○	●
[15]	2014	Chen	Semantic Modeling	✓							indoor scene	⁎		RANSAC	3	2		---		●	●	---	●	●	○	●		○
[16]	2014	Feng	Agglomerative Clustering	✓							indoor scene			primitive growing	3	2	●	●			●	●				●		●	●
[17]	2014	Hulik	Planar Hough Transform	✓							indoor scene	⁎		parameter space	2	3	○	○			○	●				●	○	○
[18]	2014	Mattausch	Cluttered Indoor Scans	✓							building interiors			primitive growing	3	2		●			○	---		○	○	●	●	○	●
[19]	2014	Ochmann	Hierarchical Building Descriptions	✓		✓					building interiors			RANSAC	3	2		●	●		○	---	○	○	●	●	●	○
[20]	2014	Salas	Dense Planar SLAM	✓							indoor scene	⁎		primitive growing	2	2	●	●			○	●			●	●	○	●
[21]	2013	Arikan	O-Snap	✓							urban buildings			RANSAC	3	3	●	○	○			---				●	●	●
[22]	2013	Chen	3-Sweep			✓		✓			individual objects			user-assisted	3	2	●		●		●	---						●
[23]	2013	Jiang	Fitting Cuboids			✓					indoor scene			primitive growing	1	2		---				---		●		○	○	●	●
[24]	2013	Kim	Learning Object Templates		✓						individual objects	△ ⁎		segmentation + fitting	1	2	---	○	○			---	○		○	●	○	●	●
[25]	2013	Lafarge	Point Set Structuring	✓							urban buildings			RANSAC	2	2		●			●	---				●	●	●
[26]	2013	Lin	Semantic Learning	✓	✓	✓					residential scene			primitive growing	3	3		●	●	●	●	---	●		○	●	●	●
[27]	2013	Shtof	Geosemantic Snapping			✓	✓	✓	✓		individual objects			user-assisted	3	3	●		●		●	---			●	●		●	●
[28]	2013	Taguchi	Point-plane SLAM	✓							indoor scene	⁎		RANSAC	2	1		●				●		●	●	●		●
[29]	2013	Thiery	Sphere Meshes	✓			✓				individual objects	△	△	primitive growing	2	3	○	●			●	---						○	●
[30]	2013	Trevor	2D-structured Point Cloud	✓							indoor scene			primitive growing	2	2	●	○			○	○		●				○
[31]	2012	Biswas	Indoor Robot Navigation	✓							building interiors	⁎		RANSAC	1	1	●	●				●				●	●	●	●
[32]	2012	Carr	Monocular Occupancy Maps			✓		✓			any			local statistics	1	3	●	○	○		○	●		●		●		●
[33]	2012	Goron	Objects On Table			✓		✓			household scene			segmentation + fitting	3	3	---				●	---				●	●	●
[34]	2012	Lafarge	Hybrid City Representation	✓			✓	✓	✓		urban buildings			segmentation + fitting	3	2		●			○	---	●			●		●
[35]	2012	Lee	Indoor Plane Mapping	✓							indoor scene	⁎		primitive growing	1	1	●	●				●				●		●
[36]	2012	Shao	Interactive Semantic Modeling	✓							indoor scene	⁎		primitive growing	2	2			●	●		○	●	●		●		●
[37]	2012	Silberman	Object Support	✓							indoor scene			RANSAC	1	1						---		●	●		●		●
[38]	2012	Trevor	Planar Surface SLAM	✓							indoor scene	⁎		RANSAC	2	2	---	○				●				○	○	●
[39]	2012	Woodford	Contracting Segments	✓			✓	✓			any			primitive growing	2	1		○			○	---				○		●
[40]	2012	Xiao	Outdoor Planar SLAM	✓							urban buildings	⁎		primitive growing	2	1	---	●				●		●		●		●
[41]	2012	Yan	Quadric Surface Fitting	✓			✓	✓		✓	individual objects	△	△	automatic clustering	3	1		○			●	---				●	○
[42]	2011	Beniere	CAD Model Recovery	✓			✓	✓	✓		individual objects	△	△	primitive growing	3	2		○				---				●
[43]	2011	Biswas	Plane Filtering	✓							indoor scene	⁎		RANSAC	1	2	●					●				●		●	●
[44]	2011	Chen	Algebraic Templates	✓			✓	✓			urban buildings			RANSAC	3	3		○			●	---				●	●	●
[45]	2011	Holz	Cluster Normal Space	✓							indoor scene			parameter space	1	2	●	○				---		○		●	○	●
[46]	2011	Li	GlobFit	✓			✓	✓	✓		individual objects			RANSAC	3	3		○				---			●	●	●	●	●
[47]	2011	Shen	Facade Partitioning			✓					urban buildings			RANSAC	2	3		○			●	---			○	●	●	●
[48]	2011	Xiao	Plane Detection for SLAM	✓							indoor scene	⁎		primitive growing	2	2						---				●		○	●
[49]	2010	Attene	Hierarchical Modeling	✓			✓	✓	✓	✓	individual objects			primitive growing	3	2	○	○			○	---			●	○	●	○	●
[50]	2009	Furukawa	Manhattan World Stereo	✓							urban buildings	⁎		parameter space	2	2		○			○	○					○
[51]	2009	Furukawa	Volumetric Integration	✓							indoor scene	⁎	□	parameter space	2	1		○			●	○			●	●	○	○
[52]	2009	Rusu	Hybrid Object Model	✓			✓	✓	✓		household scene			segmentation + fitting	3	2	---	○				---				○	○	●
[53]	2008	Chen	Architectural Modeling	✓							urban buildings			parameter space	2	3	○	●				---				●		○
[54]	2007	Rabbani	Primitive-based registration	✓			✓	✓		✓	indoor scene			parameter space	2	2	---	○				●				○	○	●
[55]	2007	Rusu	3D Object Maps	✓							indoor scene	⁎		RANSAC	2	1	---				●			○	○	●	●	●
[56]	2007	Schnabel	Fast RANSAC	✓			✓	✓	✓	✓	individual objects			RANSAC	3	2	●	○			○	---				●	●	●	●
[57]	2006	Attene	Hierarchical Segmentation	✓			✓	✓			individual objects	△	△	primitive growing	2	2	○	○			●	---				●	○	●	●
[58]	2006	Lalonde	Outdoor Robot Navigation	✓				✓		✓	natural scene			segmentation + fitting	2	3		●		●		●	●		●	●		●
[59]	2006	Weingarten	Patch RANSAC	✓							indoor scene	⁎	△	RANSAC	1	1	○	●				●				●		●
[60]	2005	Rabbani	Cylindric Hough Transform					✓			indoor scene			parameter space	3	2	---	○			●	---		●		○	●	●
[61]	2005	Simari	Ellipsoidal Modeling							✓	organic shapes	△	△	automatic clustering	2	2	---	○			●	---		●				○
[62]	2005	Wu	Hybrid VSA	✓			✓	✓			individual objects	△	△	automatic clustering	2	2		○			●	---		●				○
[63]	2004	Cohen	VSA	✓							individual objects	△	△	automatic clustering	2	1		●			●	---		●				○
[64]	2004	Gelfand	Local Slippage Analysis	✓			✓	✓	✓		individual objects			primitive growing	2	2	---	---			○	---				○		○
[65]	2004	Schuster	Tensor Voting	✓							urban buildings			primitive growing	1	2	---					---				●		●
[66]	2004	Wang	Assisted Model-Image Fitting	✓	✓			✓	✓		urban buildings			user-assisted	1	2			●		●	●				○	●	●
[67]	2003	Decoret	Billboard Clouds	✓							individual objects	△	△	parameter space	2	1					●	---					○	○	●
[68]	2002	Wang	Hough-based Reconstruction	✓							indoor scene	⁎		parameter space	1	2		●	○		○	---				●	●	●
[69]	2001	Marshall	Grow and Merge	✓				✓	✓		individual objects			primitive growing	2	3	---	○				---				○		●
[70]	2001	Vosselman	Hough-based House Modeling	✓							residential scene			parameter space	2	2		○				---	○			●		○
[71]	1999	Whitaker	Plane-based Registration	✓							indoor scene	⁎		segmentation + fitting	1	2			●			●				●
[72]	1998	Lukacs	Least-Squares Fitting				✓	✓	✓	✓	individual objects			primitive growing	2	2	---					---						○

	Method	Language
[9]	3D Kernel Hough Transform	C++	link
[11]	RAPter	C++	link
[14]	Generalized Cylinder	C++	link
[16]	Agglomerative Clustering	C++	link
[18]	Cluttered Indoor Scans	C++	link
[23]	Fitting Cuboids	Matlab	link
[24]	Learning Object Templates	C++	link
[27]	Geosemantic Snapping	C#	link
[29]	Sphere Meshes	C++	link
[31]	Indoor Robot Navigation	C++	link
[37]	Object Support	Matlab	link
[43]	Plane Filtering	C++	link
[46]	GlobFit	C++	link
[48]	Plane Detection for SLAM	C++	link
[56]	Fast RANSAC (CGAL)	C++	link
[56]	Fast RANSAC (original)	C++	link
[57]	Hierarchical Segmentation	C++	link
[67]	Billboard Clouds	C++	link
(PCL)	Variants of RANSAC	C++	link

	Method	Type of Data
[9]	3D Kernel Hough Transform	3D point clouds	link
[11]	RAPter	Point cloud + Detected Primitives	link
[14]	Generalized Cylinder	3D models (OBJ) + Parameters + Detected Primitives	link
[15]	Semantic Modeling	RGB-D images + Generated Model	link
[18]	Cluttered Indoor Scans	Point cloud + Normals	link
[24]	Learning Object Templates	3D models + Ground truth	link
	SUN3D	Sequence of RGB-D images + Camera poses + Segmentation	link
[36]	Interactive Semantic Modeling	RGB-D images + Matched 3D models	link
[37]	NYU Depth Dataset V2	Sequence of RGB-D images + Segmentation	link
[46]	GlobFit	Point cloud from individual objects + Detected primitives	link
[56]	Fast RANSAC	Point cloud from individual objects + Detected primitives	link

                                                                                                                                                                                                                                                                                               

[1]	Ochmann, Sebastian and Vock, Richard and Wessel, Raoul and Klein, Reinhard	Automatic Reconstruction of Parametric Building Models from Indoor Point Clouds	link
[2]	Oesau, Sven and Lafarge, Florent and Alliez, Pierre	Planar shape detection and regularization in tandem	link
[3]	Alehdaghi, Mahdi and Esfahani, Mahdi Abolfazli and Harati, Ahad	Parallel RANSAC: Speeding up plane extraction in RGBD image sequences using GPU	link
[4]	Bagautdinov, Timur and Fleuret, Francois and Fua, Pascal	Probability Occupancy Maps for Occluded Depth Images	link
[5]	Elghor, Hakim Elchaoui and Roussel, David and Ababsa, Fakhreddine and Bouyakhf, El Houssine	Planes Detection for Robust Localization and Mapping in RGB-D SLAM systems	link
[6]	M. Kaess	Simultaneous Localization and Mapping with Infinite Planes	link
[7]	Kang, Zhizhong and Li, Zhen	Primitive fitting based on the efficient multiBaySAC algorithm	link
[8]	Khan, Salman H. and He, Xuming and Bennamoun, Mohammed and Sohel, Ferdous and Togneri, Roberto	Separating Objects and Clutter in Indoor Scenes	link
[9]	Limberger, Frederico A and Oliveira, Manuel M	Real-time detection of planar regions in unorganized point clouds	link
[10]	Martinovic, Andelo and Knopp, Jan and Riemenschneider, Hayko and Van Gool, Luc	3D All The Way: Semantic Segmentation of Urban Scenes From Start to End in 3D	link
[11]	Aron Monszpart and Nicolas Mellado and Gabriel Brostow and Niloy Mitra	RAPter: Rebuilding Man-made Scenes with Regular Arrangements of Planes	link
[12]	Verdie, Yannick and Lafarge, Florent and Alliez, Pierre	LOD Generation for urban scenes	link
[13]	Zhang, Yizhong and Xu, Weiwei and Tong, Yiying and Zhou, Kun	Online structure analysis for real-time indoor scene reconstruction	link
[14]	Zhou, Yang and Yin, Kangxue and Huang, Hui and Zhang, Hao and Gong, Minglun and Cohen-Or, Daniel	Generalized Cylinder Decomposition	link
[15]	Chen, Kang and Lai, Yu-Kun and Wu, Yu-Xin and Martin, Ralph and Hu, Shi-Min	Automatic Semantic Modeling of Indoor Scenes from Low-quality RGB-D Data Using Contextual Information	link
[16]	Feng, Chen and Taguchi, Yasuhiro and Kamat, Vineet R	Fast plane extraction in organized point clouds using agglomerative hierarchical clustering	link
[17]	Hulik, Rostislav and Spanel, Michal and Smrz, Pavel and Materna, Zdenek	Continuous plane detection in point-cloud data based on 3D Hough Transform	link
[18]	Oliver Mattausch and Daniele Panozzo and Claudio Mura and Olga Sorkine-Hornung and Renato Pajarola	Object Detection and Classification from Large-Scale Cluttered Indoor Scans	link
[19]	Ochmann, Sebastian and Vock, Richard and Wessel, Raoul and Klein, Reinhard	Towards the Extraction of Hierarchical Building Descriptions from 3D Indoor Scans	link
[20]	Salas-Moreno, Renato F and Glocken, Ben and Kelly, Paul HJ and Davison, Andrew J	Dense Planar SLAM	link
[21]	Murat Arikan and Michael Schwarzler and Simon Flory and Michael Wimmer and Stefan Maierhofer	O-Snap: Optimization-Based Snapping for Modeling Architecture	link
[22]	Chen, Tao and Zhu, Zhe and Shamir, Ariel and Hu, Shi-Min and Cohen-Or, Daniel	3-sweep: Extracting editable objects from a single photo	link
[23]	Jiang, Hao and Xiao, Jianxiong	A linear approach to matching cuboids in RGBD images	link
[24]	Vladimir G. Kim and Li, Wilmot and Mitra, Niloy J. and Chaudhuri, Siddhartha and DiVerdi, Stephen and Funkhouser, Thomas	Learning Part-based Templates from Large Collections of 3D Shapes	link
[25]	Lafarge, Florent and Alliez, Pierre	Surface reconstruction through point set structuring	link
[26]	Lin, Hui and Gao, Jizhou and Zhou, Yu and Lu, Guiliang and Ye, Mao and Zhang, Chenxi and Liu, Ligang and Yang, Ruigang	Semantic Decomposition and Reconstruction of Residential Scenes from LiDAR Data	link
[27]	Shtof, Alex and Agathos, Alexander and Gingold, Yotam and Shamir, Ariel and Cohen-Or, Daniel	Geosemantic Snapping for Sketch-Based Modeling	link
[28]	Taguchi, Yasuhiro and Jian, Yong-Dian and Ramalingam, Srikumar and Feng, Chen	Point-plane SLAM for hand-held 3D sensors	link
[29]	Jean-Marc Thiery and Emilie Guy and Tamy Boubekeur	Sphere-Meshes: Shape Approximation using Spherical Quadric Error Metrics	link
[30]	Trevor, Alexander JB and Gedikli, Suat and Rusu, Radu B and Christensen, Henrik I	Efficient organized point cloud segmentation with connected components	link
[31]	Biswas, Joydeep and Veloso, Manuela	Depth camera based indoor mobile robot localization and navigation	link
[32]	Carr, Peter and Sheikh, Yaser and Matthews, Iain	Monocular object detection using 3d geometric primitives	link
[33]	Goron, Lucian Cosmin and Marton, Zoltan-Csaba and Lazea, Gheorghe and Beetz, Michael	Robustly segmenting cylindrical and box-like objects in cluttered scenes using depth cameras	link
[34]	Lafarge, Florent and Mallet, Clement	Creating large-scale city models from 3D-point clouds: a robust approach with hybrid representation	link
[35]	Lee, Tae-kyeong and Lim, Seungwook and Lee, Seongsoo and An, Shounan and Oh, Se-young	Indoor mapping using planes extracted from noisy RGB-D sensors	link
[36]	Shao, Tianjia and Xu, Weiwei and Zhou, Kun and Wang, Jingdong and Li, Dongping and Guo, Baining	An interactive approach to semantic modeling of indoor scenes with an RGBD camera	link
[37]	Nathan Silberman and Derek Hoiem and Pushmeet Kohli and Rob Fergus	Indoor Segmentation and Support Inference from RGBD Images	link
[38]	Trevor, Alexander JB and Rogers III, John G and Christensen, Henrik I	Planar surface SLAM with 3D and 2D sensors	link
[39]	Woodford, Oliver J and Pham, Minh-Tri and Maki, Atsuto and Gherardi, Riccardo and Perbet, Frank and Stenger, Bjorn	Contraction moves for geometric model fitting	link
[40]	Xiao, Junhao and Adler, Bejamin and Zhang, Houxiang	3D point cloud registration based on planar surfaces	link
[41]	Yan, Dong-Ming and Wang, Wenping and Liu, Yang and Yang, Zhouwang	Variational mesh segmentation via quadric surface fitting	link
[42]	Beniere, Roseline and Subsol, Gerard and Gesquiere, Gilles and Le Breton, Franccois and Puech, William	Recovering primitives in 3D cad meshes	link
[43]	Biswas, Joydeep and Veloso, Manuela	Fast sampling plane filtering, polygon construction and merging from depth images	link
[44]	Chen, Jyun-Yuan and Lai, Hung-Jui and Lin, Chao-Hung	Point cloud modeling using algebraic template	link
[45]	Holz, Dirk and Holzer, Stefan and Rusu, Radu Bogdan and Behnke, Sven	Real-time plane segmentation using RGB-D cameras	link
[46]	Yangyan Li and Xiaokun Wu and Yiorgos Chrysanthou and Andrei Sharf and Daniel Cohen-Or and Niloy J. Mitra	GlobFit: Consistently Fitting Primitives by Discovering Global Relations	link
[47]	Shen, Chao-Hui and Huang, Shi-Sheng and Fu, Hongbo and Hu, Shi-Min	Adaptive Partitioning of Urban Facades	link
[48]	Xiao, Junhao and Zhang, Jianhua and Zhang, Jianwei and Zhang, Houxiang and Hildre, Hans Petter	Fast plane detection for SLAM from noisy range images in both structured and unstructured environments	link
[49]	Attene, Marco and Patane, Giuseppe	Hierarchical Structure Recovery of Point-Sampled Surfaces	link
[50]	Furukawa, Yudai and Curless, Brian and Seitz, Steven M and Szeliski, Richard	Manhattan-world stereo	link
[51]	Furukawa, Yasutaka and Curless, Brian and Seitz, Steven M and Szeliski, Richard	Reconstructing building interiors from images	link
[52]	Rusu, Radu Bogdan and Blodow, Nico and Marton, Zoltan Csaba and Beetz, Michael	Close-range scene segmentation and reconstruction of 3D point cloud maps for mobile manipulation in domestic environments	link
[53]	Chen, Jie and Chen, Baoquan	Architectural modeling from sparsely scanned range data	link
[54]	Rabbani, Tahir and Dijkman, Sander and van den Heuvel, Frank and Vosselman, George	An integrated approach for modelling and global registration of point clouds	link
[55]	Rusu, Radu Bogdan and Blodow, Nico and Marton, Zoltan and Soos, Alina and Beetz, Michael	Towards 3D object maps for autonomous household robots	link
[56]	Schnabel, Ruwen and Wahl, Roland and Klein, Reinhard	Efficient RANSAC for Point-Cloud Shape Detection	link
[57]	Attene, Marco and Falcidieno, Bianca and Spagnuolo, Michela	Hierarchical mesh segmentation based on fitting primitives	link
[58]	Jean-Francois Lalonde and Nicolas Vandapel and Daniel Huber and Martial Hebert	Natural terrain classification using three-dimensional ladar data for ground robot mobility	link
[59]	Weingarten, Jan and Siegwart, Roland	3D SLAM using planar segments	link
[60]	Rabbani, Tahir and Van Den Heuvel, Frank	Efficient hough transform for automatic detection of cylinders in point clouds	link
[61]	Simari, Patricio D and Singh, Karan	Extraction and remeshing of ellipsoidal representations from mesh data	link
[62]	Wu, Jianhua and Kobbelt, Leif	Structure recovery via hybrid variational surface approximation	link
[63]	Cohen-Steiner, David and Alliez, Pierre and Desbrun, Mathieu	Variational shape approximation	link
[64]	Gelfand, Natasha and Guibas, Leonidas J	Shape segmentation using local slippage analysis	link
[65]	Schuster, Hanns-F	Segmentation of lidar data using the tensor voting framework	link
[66]	Wang, SD and Tseng, YH	Semi-automated CSG model-based building extraction from photogrammetric images	link
[67]	Decoret, Xavier and Durand, Fredo and Sillion, Franccois X and Dorsey, Julie	Billboard clouds for extreme model simplification	link
[68]	Wang, Jianning and Oliveira, Manuel M	Improved scene reconstruction from range images	link
[69]	Marshall, David and Lukacs, Gabor and Martin, Ralph	Robust segmentation of primitives from range data in the presence of geometric degeneracy	link
[70]	Vosselman, George and Dijkman, Sander	3D building model reconstruction from point clouds and ground plans	link
[71]	Whitaker, Ross T and Gregor, Jens and Chen, PF	Indoor scene reconstruction from sets of noisy range image	link
[72]	Lukacs, Gabor and Martin, Ralph and Marshall, Dave	Faithful least-squares fitting of spheres, cylinders, cones and tori for reliable segmentation	link