Abstract
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
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