Recovery of superquadric primitives from a range image using simulated annealing

Describes a method for recovering volumetric shape descriptions of 3D objects from range data. The models of shape primitives are superquadrics with a global deformation of tapering. The authors first define a new error-of-fit measure for fitting superquadrics to range data. The measure evaluates the difference in both depth and surface orientation between input 3D data and the model surfaces. Simulated annealing is then employed for finding a global minimum of the error-of-fit over all possible values of model parameters including translation, rotation and tapering