Table 1 Local surface type estimation using H and K (mean and Gaussian curvature, respectively) or using C 1 and C 2 parameters, equivalently
From: A method of 3D object recognition and localization in a cloud of points
Surface type | H | K | C 1 | C 2 |
|---|---|---|---|---|
Plane | 0 | 0 | 0 | 0 |
Convex cylinder | >0 | 0 | >0 | 0 |
Concave cylinder | <0 | 0 | <0 | 0 |
Convex ellipsoid | >0 | >0 | >0 | >0 |
Concave ellipsoid | <0 | >0 | <0 | >0 |
Saddle-like surface | >0 | Â | >0 | Â |
=0 | <0 | =0 | <0 | |
| Â | <0 | Â | <0 | Â |