In this work, we present the benefit of using second-order surface approximations for filtering point data-sets with normals. Point data from multiple range scanner acquisitions suffer a registration noise due to approximations in registrations. This approach aims at reducing these position errors, while using normal information with second order polynomial surfaces. Pushed further, this filtering technique can push curvature of the surface on edges resulting in a edgy surface.
INRIA Research Report : https://hal.inria.fr/inria-00071424