This paper describes a circle location in three-dimensional space from a single view by fusing intensity and range data gained by stereo cameras as a part of our robotic disassembling project. An effective nonlinear “outlier” filtering and linear 3D-circle estimation are briefly presented. The circle estimation is divided into two linear least squares problems generalized for modeling higher-dimensional data of what we call a “hypercircle”. The singular value decomposition is intensively used for most computations throughout the paper.