Curve skeleton extraction from incomplete point cloud

Andrea Tagliasacchi*, Hao Zhang, Daniel Cohen-Or

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review


We present an algorithm for curve skeleton extraction from imperfect point clouds where large portions of the data may be missing. Our construction is primarily based on a novel notion of generalized rotational symmetry axis (ROSA) of an oriented point set. Specifically, given a subset S of oriented points, we introduce a variational definition for an oriented point that is most rotationally symmetric with respect to S. Our formulation effectively utilizes normal information to compensate for the missing data and leads to robust curve skeleton computation over regions of a shape that are generally cylindrical. We present an iterative algorithm via planar cuts to compute the ROSA of a point cloud. This is complemented by special handling of non-cylindrical joint regions to obtain a centered, topologically clean, and complete 1D skeleton. We demonstrate that quality curve skeletons can be extracted from a variety of shapes captured by incomplete point clouds. Finally, we show how our algorithm assists in shape completion under these challenges by developing a skeleton-driven point cloud completion scheme.

Original languageEnglish
Article number71
JournalACM Transactions on Graphics
Issue number3
StatePublished - 27 Jul 2009
EventACM SIGGRAPH 2009, SIGGRAPH '09 - New Orleans, LA, United States
Duration: 3 Aug 20097 Aug 2009


  • Curve skeleton
  • Incomplete data
  • Rotational symmetry

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