| Preface | p. v |
| Introduction | p. 1 |
| Impossible Pictures | p. 5 |
| Losing the Third Dimension | p. 7 |
| Two Planar Surfaces | p. 8 |
| Depth Order of Surfaces at a Point | p. 10 |
| Cubic Corners and Improbable Objects | p. 12 |
| Impossible Intersections | p. 14 |
| Impossible Wireframe Projections | p. 17 |
| Labeling Line Drawings of Polyhedra | p. 21 |
| Historical Background | p. 21 |
| Line Drawing Labelling as Optimization | p. 25 |
| Parallel-Lines Constraint | p. 26 |
| A Universal Constraint for Simple Junctions | p. 32 |
| Lines Sharing the Same Two Regions | p. 38 |
| Cyclic-Path Constraint | p. 41 |
| Parallel Junctions on Distinct Faces | p. 44 |
| Encoding of Soft Constraints | p. 50 |
| Non-Manifold Scenes | p. 52 |
| Discussion | p. 52 |
| Discrete Inflation Using Cubic Corners | p. 55 |
| Computer-Enhanced Perception | p. 55 |
| Machine Interpretation of Line Drawings | p. 56 |
| Depth Labels | p. 57 |
| Depth Labels and Impossible Figures | p. 61 |
| Propagation of Depth Labels | p. 65 |
| Orthogonality Constraints on Cubic Corners | p. 67 |
| Experimental Trials | p. 70 |
| Adding Depth Information to Line Drawings | p. 72 |
| Vertices Which Are Not Cubic Corners | p. 73 |
| Discussion | p. 75 |
| Conclusion | p. 76 |
| A Rich Labeling Scheme for Curved Objects | p. 79 |
| Labeling Line Drawings of Curved Objects | p. 79 |
| Regularities in Man-Made Objects | p. 82 |
| Planarity Constraints | p. 84 |
| Constraints from Orthogonal Edges | p. 87 |
| Examples of Drawing Interpretation | p. 91 |
| Complete 3D Reconstruction | p. 94 |
| Discussion | p. 95 |
| Depth Recovery Through Linear Algebra | p. 97 |
| Gradient Space and Gradient Directions | p. 97 |
| Linear Constraints and Curved Objects | p. 100 |
| Formulation of Linear Constraints | p. 102 |
| Deriving Linear Constraints from a Drawing | p. 105 |
| Vanishing Point Constraint | p. 105 |
| Constraints from Collinearity or Intersections | p. 105 |
| T-junction Constraint | p. 106 |
| Convex/Concave Edge Constraints | p. 107 |
| Coplanarity Constraints | p. 112 |
| Hidden-Surface Coplanarity Constraints | p. 114 |
| Orthographic Projection | p. 117 |
| Physical Realizability of Drawings | p. 118 |
| The Computational Problem | p. 119 |
| Conclusion | p. 122 |
| Wireframe Projections | p. 125 |
| Introduction | p. 125 |
| Semantic and Numerical Line Labels | p. 127 |
| Realizability | p. 130 |
| All Wireframes Are Ambiguous | p. 141 |
| Identifying Faces | p. 142 |
| Common-Surface Constraints | p. 146 |
| Coplanarity Constraints | p. 147 |
| Unambiguous Wireframes | p. 150 |
| Residual Ambiguity | p. 153 |
| Constraints Between Distant Lines | p. 155 |
| Tetrahedral Vertices | p. 163 |
| Tangential Edges and Surfaces | p. 169 |
| Rich Labelling Scheme | p. 173 |
| Discussion | p. 178 |
| Conclusion | p. 180 |
| Simplification of Combinatorial Problems | p. 183 |
| Transformations of Combinatorial Problems | p. 183 |
| When Local Reductions Suffice | p. 185 |
| Arc Consistency | p. 187 |
| Neighbourhood Substitution | p. 189 |
| Simplification of Soft Constraint Problems | p. 191 |
| Valuation Structures | p. 192 |
| Valued Constraint Satisfaction | p. 194 |
| Soft Arc Consistency Techniques | p. 195 |
| Optimal Soft Arc Consistency | p. 198 |
| Virtual Arc Consistency | p. 203 |
| VAC Decomposition | p. 209 |
| Soft Neighbourhood Substitution | p. 212 |
| Discussion | p. 214 |
| Tractability of Drawing Interpretation | p. 217 |
| Tractable Constraint Classes | p. 217 |
| Zero/One/All Constraints | p. 217 |
| Max-Closed Constraints | p. 219 |
| Characterization of Tractable Boolean Constraints | p. 220 |
| Characterization of Tractable Boolean Valued Constraints | p. 221 |
| Complexity of Line Drawing Interpretation | p. 224 |
| 3D Reconstruction of Ambiguous Pictures | p. 231 |
| Reconstruction of Frontal Geometry | p. 231 |
| Hidden-Part Reconstruction | p. 233 |
| Bibliography | p. 237 |
| Index | p. 251 |
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