We propose a novel approach for recognizing 3D CAD-made objects incomplex range images containing several overlapped and differentobjects. Objects are modeled by a graph whose nodes are surfaces andarcs are surface relations. We propose an object-centered graph model,called visual constraint graph (VC-graph), with special visualconstraints modeling occlusions between object surfaces. The VC-graph isused for recognizing objects from each possible point of view, insteadof evaluating many different single-view graphs. The reasoning engine isbased on an original extension of the constraint satisfaction problem(CSP) paradigm, called interactive CSP (ICSP). CSP requires theacquisition of all surfaces before starting constraint propagation;instead, ICSP guides the acquisition of new surfaces only on-demand,without computing useless information and focusing attention only onsignificant image parts
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