Abstract: A method is proposed for obtaining a generic-part based 3-D object representation from range images. A small number of 3-D shape types based on geons are the basic part primitives. Surface segmentation of the range image is performed based on the method of Hoffman and Jain. The surfaces are classified into five types based on their principal curvatures, and adjacent surfaces belonging to different parts are separated by examining the surface types and the angle between them, and referring to the characteristic views stored in a small catalog of views of the part primitives. Finally, each part is identified by drawing inferences from surface types, as well as from the distribution of the angles between the part's principal axis and the normals on the side surfaces of that part. !21
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