Generic surface feature extraction from a set of range data

摘要

An example embodiment includes a method including receiving a three-dimensional set of range data including a plurality of points from one or more range finders. The method also includes extracting one or more surface features. Extracting includes segmenting the set of range data into a plurality of surfaces based on one or more edges, selecting one or more of the plurality of surfaces as the one or more surface features, and describing the one or more surface features based on a generic descriptor that can describe both planar and non-planar surface features.