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Much of the emphasis in computer vision research has been on recognizing objects. However, in order to perform tasks such as manipulating and avoiding collisions with objects, one needs to consider how to derive appropriate three-dimensional descriptions of objects from available sensor data. A description is given of a computational approach that has been successful in deriving renditions of shaded images in terms of volumetric primitives such as ellipsoids and cylinders.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">></ETX>
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Ferrie et al. (2003) studied this question.