Abstract
This study proposes a new algorithm for cylinder and conic surface extraction. The algorithm exploits pairs of surfaces patches to generate potential curved surface parameters which are in turn clustered using an un-supervised technique. This algorithm has the desirable property of being able to work parse, as well as dense depth data, and avoids any restrictive assumptions that the data is presented in a 2D image format. It is shown that the proposed algorithm is successful even for quite complicated depth images.