Scene reconstruction and description: geometric primitive extraction from multiple viewed scattered data

Robust extraction of surface parameters from multiple view scattered and noisy 3-D measurements is a delicate task. It is shown that a stable local surface description can be extracted on sections where measurement constraints are redundant with respect to a polynomial model. A segmentation approach is developed to identify these sections. The approach is based on a measurement error model which takes into account the sensor´s viewpoint. An application of the approach to the extraction of straight line sections from single scan 3-D surface profiles is presented