Three-Dimensional Part-Based Descriptions from a Real . . .

, the 3-D descriptions can be used to plan for the grasp and pre-shape the hand. In navigation, they can be used to select appropriate paths to avoid obstacles , for example, and in learning, the symbolic descriptions can be used to analyze differences and similarities between newly recovered objects and previously recovered ones. [17] K. Rao and R. Nevatia, "Description of complex objects from incomplete and imperfect data," In [23] M. Zerroug and R. Nevatia, "Quasi-invariant properties and 3D shape recovery of non-straight, non-constant generalized cylinders", [24] M. Zerroug and R. Nevatia, " Using invariance and quasi-invariance for the segmentation and recovery of curved objects, " in Proceedings of the 2nd [25] M. Zerroug and R. Nevatia, " Segmentation and 3-D recovery of SHGCs from a single intensity im-age",