> On the other hand, we may build a simple mesh M whose perimeter is the
> impact curve and this mesh would corresponding to the rounded corner. This mesh
> could be produced by averging the normal at the impact points with some filter.

You'll need much more than the "impact curve" in order to build the 
mesh. You'll need to know exactly what the surface is either side of the 
sharp edge, so you know where to finish the mesh. If you can imagine, a 
very sharp "V" channel will need a very different mesh to a more relaxed 
angle, or one with complex curved surfaces on each side.

Also what happens when the sharp edge / impact curve that is needed to 
create the round is not visible in the image (because it's obscured by 
another part of the shape or just pointing away from the camera)? 
Attached example.

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