{"paper":{"title":"Edge and Corner Detection for Unorganized 3D Point Clouds with Application to Robotic Welding","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.CV","authors_text":"Abdullah Al Mamun, Chee Meng Chew, Fook Seng Wong, Syeda Mariam Ahmed, Yan Zhi Tan","submitted_at":"2018-09-27T11:50:58Z","abstract_excerpt":"In this paper, we propose novel edge and corner detection algorithms for unorganized point clouds. Our edge detection method evaluates symmetry in a local neighborhood and uses an adaptive density based threshold to differentiate 3D edge points. We extend this algorithm to propose a novel corner detector that clusters curvature vectors and uses their geometrical statistics to classify a point as corner. We perform rigorous evaluation of the algorithms on RGB-D semantic segmentation and 3D washer models from the ShapeNet dataset and report higher precision and recall scores. Finally, we also de"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1809.10468","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}