In many geometry processing applications, the estimation of differential geometric quantities such as curvature or normal vector field is an essential step. In this paper, we investigate a new class of estimators on digital shape boundaries based on integral invariants (Pottmann et al., 2007) [39]. More precisely, we provide both proofs of multigrid convergence of principal curvature estimators and a complete experimental evaluation of their performances. 
Multigrid convergent principal curvature estimators in digital geometry