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Non-rigidly Connected Object Verification

Non-rigidly connected object verification is trivial in comparison to the previous structures. By virtue of the hypothesis construction process, all subcomponents have been previously verified. Further, because of the coordinate frame matching process, the reference frames of the subcomponents must have the appropriate alignment relationships with the whole ASSEMBLY. Occlusion relationships were verified by the test $O_3$ given above. What remains is to verify that the variable joint parameters meet any given constraints. These are constrained using the general method given in the next subsection.

Bob Fisher 2004-02-26