Range Data Understanding Guided by a Junction Dictionary

We p r o p o s e a new a p p r o a c h to r e p r e s e n t i n g r a n g e d a t a o r i g i n a t e d w i t h r e a l scenes b y a c o l l e c t i o n o f s i m p l e p l a n a r a n d / o r c u r v e d o b j e c t s . A r o u g h s k e t c h w i t h o b v i o u s f e a t u r e s i s g e n e r a t e d i n t h e b e g i n n i n g and i t i s i m p r o v e d s t e p b y s t e p a c c o r d i n g t o t h e g u i d a n c e b y a j u n c t i o n d i c t i o n a r y . The d i c t i o n a r y p r e d i c t s new f e a t u r e s t o b e e x t r a c t e d u n t i l t h e p e r f e c t d e s c r i p t i o n i s o b t a i n e d . The d i c t i o n a r y a l s o s u g g e s t s how t o p a r t i t i o n t h e scene i n t o s i m p l e b o d i e s ( S u g i h a r a ( 1 9 7 7 ) ) . W a l t z (1972) and o t h e r s have used s i m i l a r j u n c t i o n know ledge t o i n t e r p r e t a g i v e n l i n e d r a w i n g . T h e i r w o r k s , howeve r , d e a l w i t h p e r f e c t l i n e d r a w i n g s w h i c h a r e u s u a l l y d i f f i c u l t t o o b t a i n f r o m l i g h t i n t e n s i t y d a t a . The p r e s e n t a p p r o a c h , o n t h e o t h e r h a n d , i s p r a c t i c a l s i n c e n o i s y raw r a n g e d a t a can b e d e a l t w i t h .