Cylinder Detection using RANSAC (ROS + Point Cloud Library)

Описание

****Please see this video with the highest quality of resolution for best viewing.*****

In this video, I demonstrate the use of the RANSAC algorithm to detect a cylinder from a segmented point cloud using a two point method after normal estimation.

Additionally once the "best matching" cylinder is determined, I visualize it using the point cloud library. After a few "minor" hiccups and "quite a few" optimizations, I got it to work.

As we know, a cylinder can be fully specified using
i) the axis normal vector of the cylinder
ii) a point on the axis of the cylinder
iii) the radius of the cylinder

Note:- The assumption is that this cylinder extends infinitely on both sides and thus "L" is not a parameter of the cylinder.

Green represents points in the source point cloud.
Red represents the cylinder normal.
Blue represents the surface of the cylinder.
The three co-ordinate axes are visible too.