A FAST ALGORITHM FOR N D POLYHEDRAL SCENE PERCEPTION FROM A SINGLE 2D LINE DRAWING Topics: 2D and 3D Scene Understanding; Cognitive Models for Interpretation, Integration and Control; Object, Event and Scene Recognition, Retrieval and Indexing; Recognition and Indexing In Proceedings of the First International Conference on Computer Vision Theory and Applications - Volume 2: VISAPP, 69-76, 2006 , Setúbal, Portugal