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In Russian). 14. V. I. 2, 66-72 (in Russian). 39 UNDERSTANDING UNCONVENTIONAL IMAGES T. , KlN-6N5, Canada ABSTRACT A computational strategy is suggested for images obtained from a laser range finding scanner. The scanned scenes may contain many objects of arbitrary sizes and in arbitrary positions and orientations. No a priori information is available on scene contents but the scenes are assumed to be "man-made". The computations are mathematically very simple but many steps have to be carried out to discover scene contents.

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APPROXIMATION OF RANGE-FINDER IMAGE PIXELS During a recognition process it is necessary to determine what patch of the object model is best-fit to the segmented set of range-finder pixels. Straightforward solution consists in a selection of shift and rotation meanings for coordinate system connected with patches. It is unrealizable in practice because of huge quantity of calculations. Therefore it appears more expedient to search a quadric surface that is the best-fit to the set of 3-D points and then to compare this result with a set of patches in all object models.

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