Reconstructing CAD models of articulated objects

We present an algorithm for recovering a CAD model from a time sequence of range images of an articulated object. Each recovered part is described using an augmented boundary representation which includes the actually observed surfaces of the object part, implied surfaces between it and other connected parts, and occlusion limits to the unseen portion of the part. The algorithm first develops feature correspondences across the frames of the input sequence. Then, after potential connections are inferred between parts based on relative motion, the boundary of each part is computed. This is followed by the calculation of the parameters of validated connections, including any potential causal relations.<>