Circle Parameter Estimation From Partial Arcs

In machine vision or image processing applications, a common problem is to recognize objects that are only partially visible. A more tractable subset of this problem occurs when an object with known shape is only partially visible and we need to accurately compute its position and orientation. For example, a robot (equipped with vision capabilities) may be required to pick up objects that are randomly placed in its field of view. Knowing the position and orientation of such an object when it is fully or partially in the field of view may be important for it to perform this task.