From surfaces to objects: computer vision and three dimensional scene analysis
Robert B. Fisher · Choice Reviews Online · 1990
laminar surfaces -surface grouping difficulties * rotational symmetry -surface segmentation and multiple recognitions • chair: * convex and concave curved surfaces (seat back) -surface grouping difficulties * thin cylindrical surfaces (legs) -data scale incompatible with model scale • robot: * surface blending -non-polyhedral segmentation relationships * non-rigidly connected subcomponents -unpredictable reference frame relationships and self-occlusions