Reconstruction of surfaces behind occlusions in range images

Analysis and reconstruction of range images usually focuses on complex objects completely contained in the field of view; little attention has been devoted so far to the reconstruction of partially occluded simple-shaped wide areas like parts of a wall hidden behind furniture pieces in an indoor range image. The work in this paper is aimed at such reconstruction. First of all the range image is partitioned and surfaces are fitted to these partitions. A further step locates possibly occluded areas. while a final step determines which areas are actually occluded. The reconstruction of data occurs in this last step.