We incorporate a new approach which avoids computation of individual 3-D surface points. Higher level features are extracted from the images and used for a direct estimation of the parameters of second order object surface models. The patterns projected onto the object are multiple lines that do not necessarily have to be parallel. The projection and imaging problem with the assumptions stated above is tackled analytically. Projecting and imaging multiple lines leads to a method for estimation of the surface parameters.
Simulations illustrate the algorithm potential.