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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   >0  
=0 <0 =0 <0
  <0   <0