In　this　paper,　we　propose　a　cylinder　detection　approach　based　on　curvature　filtering　and　normal　clustering.　We　first　estimate　the　curvature　of　the　vertexes　on　each　triangle,　reserve　these　triangles　which　have　the　characteristics　of　a　cylinder,　then　the　triangles　are　clustered　by　the　normal.　Then　all　the　triangles　are　transformed　onto　a　new　coordinate　system,　which　the　Z　axis　is　parallel　to　the　normal.　Finally,　the　cylinders　are　detected　by　the　Hough　transformation　in　the　2D　plane.　The　experimental　results　show　that　our　proposed　algorithm　has　good　performance.　©　Springer　International　Publishing　Switzerland　2014.