In this paper we present efficient and fast algorithms for the reconstruction of scenes or objects using range image data. Assuming that a good segmentation is available, we concentrate on the polygoni-sation, triangulation and optimisation, i.e. both triangle reduction and adaptive edge filtering to improve edge linearity. In the processing, special attention is given to complex edge junctions. In a last step, vertex neighbourhoods are analysed in order to robustly attribute depth to the triangle list from the noisy range data.
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