S. Allaire, J. Jacq, V. Burdin, C. Roux, and C. Couture, Type-Constrained Robust Fitting of Quadrics with Application to the 3D Morphological Characterization of Saddle-Shaped Articular Surfaces, 2007 IEEE 11th International Conference on Computer Vision, pp.1-8, 2007.
DOI : 10.1109/ICCV.2007.4409163
URL : https://hal.archives-ouvertes.fr/hal-02164443

J. Andrews, User-guided inverse 3d modeling, 2001.

J. Andrews and C. H. Séquin, Type-Constrained Direct Fitting of Quadric Surfaces, Computer-Aided Design and Applications, vol.29, issue.1, pp.107-119, 2014.
DOI : 10.1016/S0010-4485(96)00054-1

D. Beale, Y. Yang, N. Campbell, D. Cosker, and P. Hall, Fitting quadrics with a Bayesian prior, Computational Visual Media, pp.107-117, 2016.
DOI : 10.1007/978-3-642-15552-9_12

T. Birdal, I. Dobryden, and S. Ilic, X-Tag: A Fiducial Tag for Flexible and Accurate Bundle Adjustment, 2016 Fourth International Conference on 3D Vision (3DV), 2016.
DOI : 10.1109/3DV.2016.65

T. Birdal and S. Ilic, Point Pair Features Based Object Detection and Pose Estimation Revisited, 2015 International Conference on 3D Vision, pp.527-535
DOI : 10.1109/3DV.2015.65

T. Birdal and S. Ilic, CAD Priors for Accurate and Flexible Instance Reconstruction, 2017 IEEE International Conference on Computer Vision (ICCV), pp.133-142, 2017.
DOI : 10.1109/ICCV.2017.24

T. Birdal and S. Ilic, A point sampling algorithm for 3D matching of irregular geometries, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp.6871-6878, 2017.
DOI : 10.1109/IROS.2017.8206609

M. M. Blane, Z. Lei, H. , and D. B. Cooper, The 3L algorithm for fitting implicit polynomial curves and surfaces to data, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.22, issue.3, pp.298-313, 2000.
DOI : 10.1109/34.841760

D. Borrmann, J. Elseberg, K. Lingemann, and A. Nüchter, The 3D Hough Transform for plane detection in point clouds: A review and a new accumulator design, 3D Research, vol.39, issue.4, p.3, 2011.
DOI : 10.1145/128749.128750

S. Choi, Q. Zhou, S. Miller, and V. Koltun, A large dataset of object scans, 2008.

G. Cross and A. Zisserman, Quadric reconstruction from dual-space geometry, Sixth International Conference on Computer Vision (IEEE Cat. No.98CH36271), pp.25-31, 1998.
DOI : 10.1109/ICCV.1998.710697

H. Deng, T. Birdal, and S. Ilic, Ppfnet: Global context aware local features for robust 3d point matching, Computer Vision and Pattern Recognition (CVPR). IEEE, 2018.
DOI : 10.1109/cvpr.2018.00028
URL : http://arxiv.org/pdf/1802.02669

L. , D. Angelo, and P. D. Stefano, Geometric segmentation of 3d scanned surfaces, Computer-Aided Design, vol.62, issue.2, pp.44-56, 2015.

J. Digne, S. Valette, and R. Chaine, Sparse geometric representation through local shape probing. arXiv preprint, 2016.
DOI : 10.1109/tvcg.2017.2719024
URL : https://hal.archives-ouvertes.fr/hal-01547820

B. Drost and S. Ilic, Local Hough Transform for 3D Primitive Detection, 2015 International Conference on 3D Vision, pp.398-406, 2015.
DOI : 10.1109/3DV.2015.52

B. Drost, M. Ulrich, P. Bergmann, P. Hartinger, and C. Steger, Introducing MVTec ITODD ??? A Dataset for 3D Object Recognition in Industry, 2017 IEEE International Conference on Computer Vision Workshops (ICCVW), 2017.
DOI : 10.1109/ICCVW.2017.257

M. A. Fischler and R. C. Bolles, Random sample consensus: a paradigm for model fitting with applications to image analysis and automated cartography, Communications of the ACM, vol.24, issue.6, pp.381-395, 1981.
DOI : 10.1145/358669.358692

A. W. Fitzgibbon, Robust registration of 2D and 3D point sets, Image and Vision Computing, vol.21, issue.13-14, pp.1145-1153, 2003.
DOI : 10.1016/j.imavis.2003.09.004

A. W. Fitzgibbon and R. B. Fisher, A Buyer's Guide to Conic Fitting., Procedings of the British Machine Vision Conference 1995, 1996.
DOI : 10.5244/C.9.51
URL : http://www.bmva.org/bmvc/1995/bmvc-95-050.pdf

J. Frahm and M. Pollefeys, Ransac for (quasi-) degenerate data (qdegsac) In Computer Vision and Pattern Recognition, IEEE Computer Society Conference on, vol.1, issue.2, pp.453-460, 2006.

J. Frahm and M. Pollefeys, Ransac for (quasi-) degenerate data (qdegsac) In Computer Vision and Pattern Recognition, IEEE Computer Society Conference on, vol.1, issue.2, pp.453-460, 2006.
DOI : 10.1109/cvpr.2006.235
URL : http://www.cs.unc.edu/~jmf/publications/QDEGSAC.pdf

A. Garcia-garcia, S. Orts-escolano, S. Oprea, V. Villena-martinez, and J. Garcia-rodriguez, A review on deep learning techniques applied to semantic segmentation. arXiv preprint, 2017.

P. Gay, C. Rubino, V. Bansal, and A. Del-bue, Probabilistic Structure from Motion with Objects (PSfMO), 2017 IEEE International Conference on Computer Vision (ICCV)
DOI : 10.1109/ICCV.2017.334

, The IEEE International Conference on Computer Vision (ICCV), 2002.

K. Georgiev, M. Hami, and R. Lakaemper, Realtime 3d scene description using spheres, cones and cylinders. arXiv preprint

P. F. Gotardo, K. L. Boyer, O. R. Bellon, and L. Silva, Robust extraction of planar and quadric surfaces from range images, Proceedings of the 17th International Conference on Pattern Recognition, 2004. ICPR 2004., pp.216-219, 2004.
DOI : 10.1109/ICPR.2004.1334099

G. Guennebaud and M. Gross, Algebraic point set surfaces, In ACM Transactions on Graphics, vol.263, issue.2, p.23, 2007.
DOI : 10.1145/1275808.1276406
URL : https://hal.archives-ouvertes.fr/inria-00354998

R. I. Hartley, In defense of the eight-point algorithm, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.19, issue.6, pp.580-593, 1997.
DOI : 10.1109/34.601246

H. Hoppe, T. Derose, T. Duchamp, J. Mcdonald, and W. Stuetzle, Surface reconstruction from unorganized points, 1992.

K. Kanatani, Further improving geometric fitting In 3-D Digital Imaging and Modeling, 3DIM 2005. Fifth International Conference on, pp.2-13, 2005.

Z. Kukelova, J. Heller, and A. Fitzgibbon, Efficient Intersection of Three Quadrics and Applications in Computer Vision, 2016 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp.1799-1808, 2016.
DOI : 10.1109/CVPR.2016.199

Y. Li, X. Wu, Y. Chrysathou, A. Sharf, D. Cohen-or et al., Globfit: Consistently fitting primitives by discovering global relations, In ACM Transactions on Graphics, vol.304, issue.2, p.52, 2011.

Y. Liu, Robust segmentation of raw point clouds into consistent surfaces, Science China Technological Sciences, vol.18, issue.8, pp.1156-1166, 2016.
DOI : 10.1109/TVCG.2011.276

E. López-rubio, K. Thurnhofer-hemsi, and ´. O. ,

E. B. De-cózar-macías, J. Blázquez-parra, I. L. Muñoz-pérez, and . De-guevara-lópez, Robust fitting of ellipsoids by separating interior and exterior points during optimization, Journal of Mathematical Imaging and Vision, issue.2, pp.1-22, 2016.

A. Makhal, F. Thomas, and A. P. Gracia, Grasping unknown objects in clutter by superquadric representation . arXiv preprint, 2017.

J. R. Miller, Analysis of quadric-surface-based solid models, IEEE Computer Graphics and Applications, vol.8, issue.1, pp.28-42, 1988.
DOI : 10.1109/38.488

L. Minto, G. Pagnutti, and P. Zanuttigh, Scene Segmentation Driven by Deep Learning and Surface Fitting, Computer Vision?ECCV 2016 Workshops, pp.118-132, 2016.
DOI : 10.1007/978-3-319-10602-1_30

E. Moore, On the reciprocal of the general algebraic matrix, Bull. Am. Math. Soc, vol.26, issue.5, pp.394-395, 1920.

T. Mörwald, A. Richtsfeld, J. Prankl, M. Zillich, and M. Vincze, Geometric data abstraction using B-splines for range image segmentation, 2013 IEEE International Conference on Robotics and Automation, pp.148-153
DOI : 10.1109/ICRA.2013.6630569

C. Papazov and D. Burschka, An Efficient RANSAC for 3D Object Recognition in Noisy and Occluded Scenes, Asian Conference on Computer Vision, pp.135-148, 2010.
DOI : 10.1109/CVPR.2004.1315153

A. T. Pas and R. Platt, Localizing grasp affordances in 3-d points clouds using taubin quadric fitting. arXiv preprint, 2013.

S. Petitjean, A survey of methods for recovering quadrics in triangle meshes, ACM Computing Surveys, vol.34, issue.2, pp.211-262, 2002.
DOI : 10.1145/508352.508354
URL : https://hal.archives-ouvertes.fr/inria-00100762

K. Qin, Representing quadric surfaces using NURBS surfaces, Journal of Computer Science and Technology, vol.11, issue.5, pp.210-216, 1997.
DOI : 10.1007/BF02948971

K. Qin, W. Wang, and Z. Tang, Representing spheres and ellipsoids using periodic nurbs surfaces with fewer control vertices, Computer Graphics and Applications , 1998. Pacific Graphics' 98. Sixth Pacific Conference on, pp.210-211, 1998.

R. Qiu, Q. Zhou, and U. Neumann, Pipe-Run Extraction and Reconstruction from Point Clouds, European Conference on Computer Vision, pp.17-30, 2014.
DOI : 10.1007/978-3-319-10578-9_2

M. Rosenblatt, Remarks on Some Nonparametric Estimates of a Density Function, The Annals of Mathematical Statistics, vol.27, issue.3, pp.832-837, 1956.
DOI : 10.1214/aoms/1177728190

R. Schnabel, R. Wahl, and R. Klein, Efficient RANSAC for Point-Cloud Shape Detection, Computer graphics forum, pp.214-226, 2007.
DOI : 10.1016/S0010-4485(96)00054-1
URL : http://cg.informatik.uni-bonn.de/docs/publications/2007/schnabel-2007-efficient.pdf

A. Sveier, A. L. Kleppe, L. Tingelstad, and O. Egeland, Object Detection in Point Clouds Using Conformal Geometric Algebra, Advances in Applied Clifford Algebras, pp.1-16, 2017.
DOI : 10.5281/zenodo.158974
URL : https://link.springer.com/content/pdf/10.1007%2Fs00006-017-0759-1.pdf

T. Tasdizen, Robust and repeatable fitting of implicit polynomial curves to point data sets and to intensity images, 2001.

T. Tasdizen, J. Tarel, and D. B. Cooper, Algebraic curves that work better, Proceedings. 1999 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (Cat. No PR00149), pp.35-41, 1999.
DOI : 10.1109/CVPR.1999.784605
URL : http://www.lems.brown.edu/~jpt/jpt-cvpr99.ps.gz

G. Taubin, Estimation of planar curves, surfaces, and nonplanar space curves defined by implicit equations with applications to edge and range image segmentation, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.13, issue.11, pp.1115-1138, 1991.
DOI : 10.1109/34.103273
URL : http://mesh.brown.edu/taubin/pdfs/taubin-pami91.pdf

T. Tran, V. Cao, and D. Laurendeau, Extraction of Reliable Primitives from Unorganized Point Clouds, 3D Research, vol.24, issue.5, p.44, 2015.
DOI : 10.1109/34.1000236

M. Ulrich, C. Wiedemann, and C. Steger, Combining Scale-Space and Similarity-Based Aspect Graphs for Fast 3D Object Recognition, IEEE Transactions on Pattern Analysis and Machine Intelligence, vol.34, issue.10, pp.1902-1914, 2012.
DOI : 10.1109/TPAMI.2011.266

S. Uto, T. Tsuji, K. Harada, R. Kurazume, and T. Hasegawa, Grasp planning using quadric surface approximation for parallel grippers, 2013 IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.1611-1616, 2013.
DOI : 10.1109/ROBIO.2013.6739697

E. W. Weisstein, Quadratic surface. MathWorld -A Wolfram Web Resource, 2017.

D. Yan, Y. Liu, and W. Wang, Quadric Surface Extraction by Variational Shape Approximation, International Conference on Geometric Modeling and Processing, pp.73-86, 2006.
DOI : 10.1007/11802914_6
URL : http://research.microsoft.com/en-us/UM/people/yangliu/publication/Quadric Surface Extraction by Variational Shape Approximation.pdf

D. Yan, W. Wang, Y. Liu, and Z. Yang, Variational mesh segmentation via quadric surface fitting, Computer-Aided Design, vol.44, issue.11, pp.1072-1082, 2012.
DOI : 10.1016/j.cad.2012.04.005

S. You and D. Zhang, Think locally, fit globally: Robust and fast 3D shape matching via adaptive algebraic fitting, Neurocomputing, vol.259, p.3, 2017.
DOI : 10.1016/j.neucom.2016.06.086

H. Zhao, D. Yuan, H. Zhu, and J. Yin, 3-D point cloud normal estimation based on fitting algebraic spheres, 2016 IEEE International Conference on Image Processing (ICIP), pp.2589-2592, 2016.
DOI : 10.1109/ICIP.2016.7532827