Building a B-rep from a segmented range image

A segmented range image contains a set of regions representing the projections of the surfaces imaged. Many methods have been proposed to perform the segmentation and surface fitting processes; that is not what this paper is about. Instead, we consider a problem very little analysis has been given to: finding boundary relationships among the regions/surfaces. Since a segmented range image gives us a set of surface patches, it is natural to search for the topology of the 3D surface patches (that is, how the surface patches are connected together). A solution to this problem gives a true 3D boundary representation of the scene