Reed Michael K. author Columbia University. Computer Science Allen Peter K. author Columbia University. Computer Science Abrams Steven author Columbia University. Computer Science Columbia University. Computer Science originator text Articles 1995 English This paper discusses an approach to automating CAD model acquisition by creating binary space partitioning (BSP) trees from laser range data. Distinct views of the object, each represented by a BSP tree, are then merged using set operations. BSP trees have proven their utility in 3D modeling, graphics and image processing, and their tree structure allows efficient algorithms to be developed that are compact and numerically robust. These properties are of primary importance when considering an intermediate representation between raw sensor data and existing CAD models. Computer science Piscataway, N.J. IEEE 1995 335 340 http://dx.doi.org/10.1109/IROS.1995.526238 http://hdl.handle.net/10022/AC:P:15226 NNC NNC 2012-11-07 16:07:38 -0500 2012-11-07 16:12:40 -0500 9228 eng