Abstract
Some three dimensional scene analysis programs match data surface patches (i.e. as extracted from range data) to model surface patch features. From the correspondences a variety of rotation and translation constraints on the model can be deduced, depending on the assumptions behind the correspondences. Some of the constraints available when single planar patches are related are elaborated in the paper. The constraints are expressed algebraically for patches that are: nearby, touch, contained or registered. The constraints are used to estimate object position, given a single patch correspondence. Examples of their use are given.
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