Alex Pentland, Stan Sclaroff

Abstract

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