S.M., May 1985; M.D./Ph.D., May 1989. S.M. Thesis title: “Parameters of a Three-Dimensional Free Fall Trajectory from its Two-Dimensional Central Projection,” Massachusetts Institute of Technology, Department of Electrical Engineering & Computer Science. Ph.D. Thesis title: “A Modern Differential Geometric Approach to Shape from Shading,” Massachusetts Institute of Technology, Department of Electrical Engineering & Computer Science.