An algorithm is presented for merging three-dimensional symbolic descriptions of static polyhedral scenes obtained from multiple viewpoints. The 3-D descriptions are assumed to be partial because of occlusions. The merging algorithm treats the topology of the descriptions (i.e., connections between vertices, edges, and faces) separately from the geometry (i.e., physical dimensions and relative locations). This paper describes one part of a larger project whose goal is to obtain an integrated symbolic description of a scene from range data obtained from multiple viewpoints.
"Merging 3-D Symbolic Descriptions Obtained from Multiple Views of a Scene", Proc. SPIE 0726, Intelligent Robots and Computer Vision V, (27 March 1987); doi: 10.1117/12.937740; https://doi.org/10.1117/12.937740