Figure 3

The results of the vision-based reconstruction with the point-circle invariant and the laser plane that is coplanar to the 2D reference. (a) A can, (b) a bowl, (c) a detergent bottle, (d–f) the reconstruction results of (a–c), (g) a spray bottle, (h) a cubic box, (i) a case, (j–l) the reconstruction results of (g–i).