Abstract: A method of rejecting the presence of an object of extrusion within a point cloud. The method comprising receiving, through a data interface, data describing a set of measurements of observed portions of the one or more objects in the scene. The method further comprising receiving data describing an extruded object that is hypothesized to exist in the scene. The method further comprising finding a set of near measurement points comprising measurement points wherein each measurement point is within a predefined distance of the hypothesized extruded object. The method further comprising classifying points within the set of near measurement points associated with the hypothesized extruded object as on-surface or off-surface. The method further comprising rejecting the hypothesized extruded object whose off-surface measurement points exceed an allowable threshold.

Abstract: A system for constructing a virtual 3D model of one or more objects within a scene, where the virtual 3D model contains one or more flat faces on each object constructed. In some embodiments, the system may include at least one processing device configured to: receive, through a data interface, data describing a set of measurements of observed portions of the one or more objects in the scene, where the set of measurements was performed by one or more measurement devices; receive, through a data interface or user input device, one or more shape definitions, where the shape definitions define the possible shapes of a virtual 3D model of an object, and where the virtual 3D model of an object is to be constructed from the measurement data, and where the shapes contain one or more regions with primitive geometries.

Abstract: A system for constructing a virtual 3D model of one or more objects within a scene, where the virtual 3D model contains one or more flat faces on each object constructed. In some embodiments, the system may include at least one processing device configured to: receive, through a data interface, data describing a set of measurements of observed portions of the one or more objects in the scene, where the set of measurements was performed by one or more measurement devices; receive, through a data interface or user input device, one or more shape definitions, where the shape definitions define the possible shapes of a virtual 3D model of an object, and where the virtual 3D model of an object is to be constructed from the measurement data, and where the shapes contain one or more regions with primitive geometries.

Abstract: The presently disclosed embodiments may include a system for constructing a virtual 3D model of one or more objects within a scene, where the virtual 3D model contains one or more wholly or partially unobserved faces.