The circle object detection with the use of Msplit estimation

The paper presents the use of M-split(q) - estimation in the filtration and aggregation of point clouds containing a known number of elliptical shapes with preliminary unknown - locations and dimensions. These theoretical solutions may have practical relevance especially in the modelling of terrestrial laser scanning data of objects that have similar shape to circles. Mentioned shapes can be scanned of tree trunks, columns, gutters, etc., that are elliptical in the horizontal plane. The results are satisfied and encourage furthermore detailed research, particularly with the extension of 3D applications.