Closed-form solutions for physically-based shape modeling and recognition

An efficient, physically based solution for recovering a 3-D solid model from collections of 3-D surface measurements is presented. Given a sufficient number of independent measurements, the solution is overconstrained and unique except for rotational symmetries. A physically based object recognition method that allows simple, closed-form comparisons of recovered 3-D solid models is given. The performance of these methods is evaluated using both synthetic and real laser rangefinder data.<<ETX>>

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