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Abstract: We present a method for partitioning a set of surface estimates obtained with a laser range finding system into subsets corresponding to parts of an object. Our strategy uses two complementary representations for surfaces: one that describes local structures in terms of differential properties (e.g. edges, lines, contours) and the other that represents the surface as a collection of smooth patches at different scales. By enforcing a consistent interpretation between these two representations, it is possible to derive a partitioning algorithm that is both efficient and robust.