Preface
1 Building Hierarchical Solid Models from Sensor Data 
Stephane Aubry and Vincent Hayward
2 Computing Volume Descriptions from Sparse 3-D Data 
Kashipati Rao and R. Nevatia
3 Knowledge-Based Robot Multisensor Data Fusion for Computer-Integrated Manufacturing Systems 
Ren C. Luo and Min-Hsiung Lin
4 Automatic Sensor Search and Positioning for Geometric Tasks Greg Hager and Max Mintz A Collection of Papers on the TOUR Model 1
Benjamin Kuipers
5 Modeling Spatial Knowledge 171
Benjamin Kuipers
6 Commonsense Knowledge of Space:
Learning from Experience
Benjamin Kuipers
7 Navigation and Mapping in Large-Scale Space 
Benjamin Kuipers and Tod Levitt
8 Spherical Analysis in Image Understanding 
Michael A. Penna and Su-shing Chen
AUTHOR INDEX 
SUBJECT INDEX