Edge–Point Cloud Fusion for Geometric Fitting of Cylinder Parameters Using Single-View RGB-D Data

Cylinders are common in both industrial and daily settings. Accurate geometric fitting of their parameters, including position, orientation, and radius, is important in real-world perception tasks and industrial applications. At present, consumer-level RGB-D cameras provide three-dimensional (3D) point cloud data with acceptable accuracy and are widely adopted in various sensing applications. Consequently, this task is typically formulated as a geometric fitting problem based on point cloud data. However, point cloud data acquired from such sensors often contain noise, particularly when scanning curved surfaces, which directly degrades the performance of point cloud-based fitting methods. In this paper, we propose an edge-point cloud fusion approach for the geometric fitting of cylinder parameters from single-view RGB-D data. Our approach leverages two-dimensional (2D) image-domain edge constraints together with point cloud data, then fuses them in a unified formulation to jointly optimize cylinder parameters. By explicitly incorporating reliable edge information, our method effectively mitigates the effects of noise in point cloud data. We evaluate the proposed method using real-world RGB-D data, and the experimental results show that our approach achieves significant improvements in both accuracy and robustness.