Simultaneous Segmentation and Superquadrics Fitting in Laser-Range Data
  R. Pascoal1, V. Santos1, C. Premebida2, and U. Nunes2
1Univ. of Aveiro. 2Univ. of Coimbra - Portugal.
  • Superquadrics based segmentation and modeling of objects
  • Input: range data from laserscanners (2D) or LIDAR (3D)
  • Range sensors are mounted onboard ground-robotic platforms
  • The objective function accounts for: size of objects, distance to the sensor, and for partial occlusions.
Paper: pdf (1.8MB) IEEE Transactions on Vehicular Technology.
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 Superquadrics illustration
Example of 2D quadrics

Superquadrics_3DLidar
 Example of 3D quadrics

Implementations 
Matlab (.m) files: download


Acknowledgement: Eng. Nuno Ricardo Vicente.