Tan, J.Clapworthy, G.Peter Hall and Philip Willis2016-02-092016-02-0920033-905673-54-1https://doi.org/10.2312/vvg.20031012With the aim of improving the efficiency of on-line modelling of virtual environments (VEs) in Internet-based telerobotics (IBT), this paper addresses the modelling of geometric primitives using only a single view of them. By studying the properties and constraints of the primitives under perspective projection, we propose a modelling framework that uses virtual features as matching templates for the parameter acquisition of 3D objects, the analytical descriptions of which are hard to find.I.3.7 [Computer Graphics]virtual realityI.2.9 [Robotics]operator interfacesI.2.10 [Vision and Scene Understanding]modelling and recovery of physical attributes10.2312/vvg.20031012J. Tan and G. Clapworthy-I.3.7 [Computer Graphics]: virtual reality I.2.9 [Robotics]: operator interfaces I.2.10 [Vision and Scene Understanding]: modelling and recovery of physical attributes