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Journal for Geometry and Graphics 21 (2017), No. 1, 119--130
Copyright Heldermann Verlag 2017



A Dual Quaternion Based Pipe Alignment Algorithm for Constrained Pipe Systems

Daniel Klawitter
FARO 3D Software GmbH, Tiergartenstr. 79, 01219 Dresden, Germany
daniel.klawitter@faro.com

Christian Tonn
FARO 3D Software GmbH, Tiergartenstr. 79, 01219 Dresden, Germany

Oliver Bringmann
FARO 3D Software GmbH, Tiergartenstr. 79, 01219 Dresden, Germany



Faro 3D Software GmbH develops software for interpreting point clouds generated by 3D laser scanners. A main application is to extract complete pipe systems that may be found in industrial plants. The focus of our contribution is directed at an iterative algorithm to align these pipe systems. Patent Pending.

Keywords: Dual quaternion, laser scanning, constraints, pipe systems.

MSC: 53A17; 68U07, 51N20

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