This thesis contains a detailed explanation of the development of the hull-detection algorithms Space Carving, Modified Space Carving, and Space Modeling used to determine the object and its boundaries as this is an important basis for accurate MLP calculations.  In addition, it gives a detailed description of the theory and mathematics governing the various steps in preprocessing.  Note that this was written before finalizing coordinate system definition, so y/z coordinate likely correspond to what is now -y/-z.