Biswas,Prabir Kr., Mukherjee,Jayanta, Chakrabarti,P.P., and Chatterji,B.N. (1992):
Qualitative description of 3-D surfaces, International Journal of Artificial Intelligence and
Pattern Recognition, 6(4), 651-672.  Abstract. 
This paper describes a system which obtains a structural scene description of 3D objects from range images. The system uses a hierarchical approach to obtain higher level primitives from lower level ones. Instead of a detailed mathematical approach, qualititative reasoning by rule based deduction is used to obtain the scene description. The rule bases are also hierarchical and several special control strategies like rule pruning, windowing (or zoning) and fact inhibition are used to considerably improve the speed of the system. Experimental results and performance of the system on actual range images are presented.